TR-Electronic MP-200 - Object 0 X60 B0: Position Offset; Object 0 X60 B1: Velocity Offset; Object 0 X60 B2: Torque Offset

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 115 of 153
9.4.53 Object 0x60B0: Position Offset
Object code
VAR
Data type
INTEGER32
Attribute
rw
Default
0
Min
-
Max
-
PDO mapping
yes
Description
This object provides the offset of the target position and is given in user-defined
position units.
9.4.54 Object 0x60B1: Velocity Offset
Object code
VAR
Data type
INTEGER32
Attribute
rw
Default
0
Min
-
Max
-
PDO mapping
yes
Description
This object provides the offset for the velocity value and is given in user-defined
velocity units. In cyclic synchronous position mode, this object contains the input
value for velocity feed forward. In cyclic synchronous velocity mode, it contains the
commanded offset of the drive. The value is absolute.
9.4.55 Object 0x60B2: Torque Offset
Object code
VAR
Data type
INTEGER16
Attribute
rw
Default
0
Min
-
Max
-
PDO mapping
yes
Description
This object provides the offset for the torque value and is given in per thousand
rated torque. In cyclic synchronous position mode and cyclic synchronous velocity
mode, this object contains the input value for torque feed forward. In cyclic
synchronous torque mode it contains the commanded additive torque of the drive,
which is added to the target torque value. The value is absolute.