6077h Torque Actual Value Function This object indicates the current torque value in tenths of a percent of the rated torque for the internal controller. Object description Index 6077h Object name Torque Actual Value Object Code VARIABLE Data type INTEGER16 Savable no Access read only PDO mapping TX-PDO Allowed values Preset value 0000h Firmware version FIR-v1540 Change history Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203Bh:01. The minimum of 6073h and 6072h is used as limit for the torque in 6071h. The target torque may not exceed the peak torque (proportional to the maximum motor current in 2031h).
6077h Torque Actual Value Function This object indicates the current torque value in tenths of a percent of the rated torque for the internal controller. Object description Index 6077h Object name Torque Actual Value Object Code VARIABLE Data type INTEGER16 Savable no Access read only PDO mapping TX-PDO Allowed values Preset value 0000h Firmware version FIR-v1540 Change history Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203Bh:01. The minimum of 6073h and 6072h is used as limit for the torque in 6071h. The target torque may not exceed the peak torque (proportional to the maximum motor current in 2031h).
Function This object indicates the current torque value in tenths of a percent of the rated torque for the internal controller.
Object description Index 6077h Object name Torque Actual Value Object Code VARIABLE Data type INTEGER16 Savable no Access read only PDO mapping TX-PDO Allowed values Preset value 0000h Firmware version FIR-v1540 Change history
Description This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203Bh:01. The minimum of 6073h and 6072h is used as limit for the torque in 6071h. The target torque may not exceed the peak torque (proportional to the maximum motor current in 2031h).
