Inovance EtherCAT MD800 - Page 36

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INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
Indexes
606Ch
name
Speed feedback
Velocity actual
value
Setting
effective
-
data
structure
VAR
data
type
Int32
Accessibility
RO
Can
It
map
TPDO
Correlation
mode
CSV
Data
range
-231~
（231-
1）
factory
setting
-
(1) Actual operation speed of inverter
Indexes
6077h
name
Actual torque
Torque actual value
Setting
effective
-
data
structure
VAR
data
type
Int16
Accessibility
RO
Can
It
map
TPDO
Correlation
mode
ALL
Data
range
(unit:
0.1%)
factory
setting
-
(1) The unit is based on the rated torque of the motor
Indexes
607Eh
name
Command polarity
Polarity
Setting
effective
-
data
structure
VAR
data
type
Uint8
Accessibility
RO
Can
It
map
TPDO
Correlation
mode
CSV
Data
range
0~255
factory
setting
0
(1) Bit6 sets the target speed limit to 0, and the target speed is (60ff + 60b1);Set to 1, target speed is -
(60ff + 60b1)
Indexes
60B1h
name
Speed
offset
Velocity
Offset
Setting
effective
-
data
structure
VAR
data
type
Int32
Accessibility
RO
Can It
map
TPDO
Correlation
mode
CSV
Data
range
-231 ~
(231-
1)
factory
setting
0