CANopen DSP 402 Implementation Guide
108
Object 0x6087: Torque slope
This parameter describes the rate of change of torque in units of per thousand of rated torque per second.
Object description:
| Index |
| 6087h |
| Name |
| Torque Slope |
| Object code |
| VAR |
|
|
|
|
| Data type |
| UNSIGNED32 |
|
|
|
|
| Category |
| Mandatory |
Entry description: |
|
| |
|
|
|
|
| Access |
| Read/write |
|
|
|
|
| PDO mapping |
| Yes |
| Value range |
| UNSIGNED32 |
|
|
|
|
| Default value |
| 0 |
|
|
|
|
Note: If a user submits a value that is greater than of the maximum admissible value of this object, then the drive loads the maximum possible value, without issuing a receive error message.
Object 0x6088: Torque profile type
The torque profile type is used to select the type of torque profile used to perform a torque change.
Object description:
| Index |
| 6078h |
| Name |
| Torque profile type |
|
|
|
|
| Object code |
| VAR |
| Data type |
| INTEGER16 |
|
|
|
|
| Category |
| Mandatory |
|
|
|
|
Entry description: |
|
| |
|
|
|
|
| Access |
| Read/Write |
|
|
|
|
| PDO mapping |
| No |
|
|
|
|
| Value range |
| INTEGER16 |
| Default value |
| 0 |
|
|
|
|
Data Description: |
|
| |
|
|
|
|
| Value |
| Description |
|
|
|
|
| 0 |
| Linear ramp (trapezoidal |
|
|
| profile) |
Note: The SimplIQ family of digital servo drives works with option 0 (Linear ramp) only.
