Object 0x6077: torque actual value, Object 0x6078: current actual value, 6077h: torque actual value – ElmoMC CANopen DSP 402 Implementation Guide User Manual
Page 113: 6078h: current actual value
Object 0x6077: Torque Actual value
The torque actual value corresponds to the instantaneous torque in the drive motor. The
value is given in units of per thousand of rated torque.
Object description:
Index 6077h
Name
Torque Actual value
Object code
VAR
Data type
INTEGER16
Category Mandatory
Entry description:
Access Read
PDO mapping
Yes
Value range
INTEGER16
Default value
0
Note: This Object reflects the Actual Current ( IQ )
Object 0x6078: Current Actual value
The current actual value refers to the instantaneous current in the drive motor. The value is
given in units of per thousand of rated current.
Object description:
Index 6078h
Name
Current Actual value
Object code
VAR
Data type
INTEGER16
Category Mandatory
Entry description:
Access Read
PDO mapping
Yes
Value range
INTEGER16
Default value
0
Note: This Object reflects the Actual Current ( IQ)
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
107