trapulsPac - User Guide
Chapter 3 – Reference
Sub Index 9
Description Motor Stall Current
Data Type Unsigned32
Access rw
PDO Mapping No
Unit mA
The value written in this object can consequently modify the value of 0x6075
Sub Index 10
Description Motor Peak Current
Data Type Unsigned32
Access rw
PDO Mapping No
Unit mA
The value written in this object can consequently modify the value of 0x6073
Sub Index 11
Description Torque Constant (Kt)
Data Type Unsigned16
Access rw
PDO Mapping No
Unit 0.001Nm/A
Sub Index 12
Description Inertia
Data Type Unsigned16
Access rw
PDO Mapping No
Unit 0.001gm²
Sub Index 13
Description Inductance
Data Type Unsigned16
Access rw
PDO Mapping No
Unit 0.1mH
When writing to this parameter, its value will also be written to 0x340F,0
Sub Index 14
Description Number of motor pole pairs
Data Type Unsigned16
Access rw
PDO Mapping No
Value 1..24
When writing to this parameter, its value will also be written to 0x3410,1
Sub Index 15
Description Motor Phase
Data Type Unsigned16
Access rw
PDO Mapping No
Value 0x5555 or 0xAAAA (corresponding to 240° or 120°)
When writing to this parameter, its value will also be written to 0x3410,2
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