ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 114)

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.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
108