Kollmorgen S300

4.7 Profile Torque Mode (tq) (DS402)
4.7.1 General Information
The profile torque mode enables the processing of torque setpoints and the associated current.
4.7.2 Objects that are defined in this section
Index Object Name Type Access
6071
h
VAR Target torque INTEGER16 rw
6073
h
VAR Max current UNSIGNED16 rw
6077h VAR Torque actual value INTEGER16 ro
4.7.3 Object description
4.7.3.1 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 thousand of rated torque.
Index 6071
h
Name
Target torque
Object code
VAR
Data type
INTEGER16
Category
conditional; mandatory, if tq supported
Access
rw
PDO mapping
possible
Value range
INTEGER16
Default value
0
4.7.3.2 Object 6073h: Max current (DS402)
This value represents the maximum permissible torque creating current in the motor and is given
per thousand of rated current.
Index 6073
h
Name
Max current
Object code
VAR
Data type
UNSIGNED16
Category
optional
Access
rw
PDO mapping
possible
Value range
UNSIGNED16
Default value
0
4.7.3.3 Object 6077h: Torque actual value (DS402)
The torque actual value corresponds to the instantaneous torque in the drive motor. The value is
given per thousand of rated torque.
Index 6077
h
Name
Torque actual value
Object code
VAR
Data type
INTEGER16
Category
optional
Access
ro
PDO mapping
possible
Value range
INTEGER16
Default value
0
CANopen for S300/S700 73
Kollmorgen 11/2018 CANopen Drive Profile