Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 87)

4.11.2 Objekt 6077h: Torque actual value

The torque actual value refers to the current torque in the motor. The scaling equates to 1/1000 of

the rated torque.

Index

6077

Brief description

Torque actual value

Object code

VAR

Number of elements

Access

PDO mapping

possible

Value range

INTEGER16

Default value

4.11.3 Objekt 60C2h: Interpolation time period

The interpolation time period is used for the PLL (phase-locked loop) synchronized positioning

mode.

The time unit (Subindex 1) is determined on the basis of 10

interpolation time index

s; only multiples of

1 ms are permitted. The two values define the internal ASCII parameter PTBASE (multiples of

250 μs).

In order to make use of PLL synchronized mode, SYNCSRC must be set to 3 (synchronization over

CAN) or FPGA set to 3 (AX2xxx 600 only).

Index

60C2

Brief description

Interpolation time period

Object code

RECORD

Number of elements

Sub-Indexes:

Sub-index

01h

Brief description

Interpolation time units

Access

PDO mapping

possible

Value range

UNSIGNED8

Default value

Sub-index

02h

Brief description

Interpolation time index

Access

PDO mapping

possible

Value range

-123 ... 63

Default value

-3

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 87

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