Object 0x6087: Torque slope

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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.

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Image 114
Elmo DSP 402 manual Object 0x6087 Torque slope, Index, 6087h, Object 0x6088 Torque profile type, 6078h