20.6.7 Profile Torque Mode (tq) (DS402)
20.6.7.1 General Information
The profile torque mode enables the processing of torque setpoints and the associated current.
Objects that are defined in this section
Index Object Name Type Access
6071h VAR Target torque INTEGER16 R/W
6073h VAR Max current UNSIGNED16 R/W
6077h VAR Torque actual value INTEGER16 R/O
Objects that are defined in other sections
20.6.7.2 Object description
Object 6071h: Target torque (DS402)
This parameter is the input value for the torque controller in profile torque mode and the value is given per thou-
sand (0.001%) of rated torque.
Index 6071h
Name Target torque
Object code VAR
Data type INTEGER16
Category conditional; mandatory, if tq supported
Access R/W
PDO mapping possible
Value range INTEGER16
Default value 0
Object 6073h: Max current (DS402)
This value represents the maximum permissible torque creating current in the motor and is given per thousand
(0.001%) of rated current.
Index 6073h
Name Max current
Object code VAR
Data type UNSIGNED16
Category optional
Access R/W
PDO mapping possible
Value range UNSIGNED16
Default value 0
AKD User Guide |
Kollmorgen | December 2010 100
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