Parker TPDM - Object 60 B1 H: Velocity Offset; Object 60 B2 H: Torque Offset

Parker Hannifin Manufacturing Srl user’s manual TPDM
173
12.1.11.3.2 Object 60B1h: Velocity offset
This object shall provide the offset for the velocity value. The offset shall be given in user-
defined velocity units. In cyclic synchronous position mode, this object contains the input
value for velocity feed forward.
NOTE The value itself is absolute and thus independent of how often it is transmitted over the
communication system, for example transmitted twice does not mean double value. Since the
additive velocity value represents an offset to the target velocity, it can be also used to control
the drive with relative values with regard to the target velocity.
Object description
INDEX
60B1h
Name
Velocity offset
Object code
VAR
Data type
Integer 32
Category
Optional
Entry description
Sub-index
00h
Access
rw
PDO mapping
See /CiA402-3/
Range value
Integer 32
Default value
0
12.1.11.3.3 Object 60B2h: Torque offset
This object shall provide the offset for the torque value. The offset shall be given in per
thousand rated torque. In cyclic synchronous position mode, this object contains the input
value for torque feed forward.
NOTE The value itself is absolute and thus independent of how often it is transmitted over the
communication system, for example transmitted twice does not mean double value.
Object description
INDEX
60B2h
Name
Torque offset
Object code
VAR
Data type
Integer 16
Category
Optional
Entry description
Sub-index
00h
Access
rw
PDO mapping
See /CiA402-3/
Range value
Integer 16
Default value
0