14: Profiled Torque Mode ......................................................................................................101
14.1
General Information ......................................................................................................101
14.1.1
Internal states ....................................................................................................102
Controlword of profile torque mode .......................................................................... 102
14.2
Objects dictionary entries..............................................................................................103
14.2.1
Objects defined in other chapters....................................................................103
14.2.2
Objects description............................................................................................103
Object 0x6071: Target torque ....................................................................................... 103
Object 0x6072: Max torque ........................................................................................... 104
Object 0x6073: Max Current......................................................................................... 104
Object 0x6074: Torque Demand value ........................................................................ 105
Object 0x6075: Motor Rate Current ............................................................................. 106
Object 0x6076: Motor Rate Torque .............................................................................. 106
Object 0x6077: Torque Actual value............................................................................ 107
Object 0x6078: Current Actual value .......................................................................... 107
Object 0x6087: Torque slope ........................................................................................ 108
Object 0x6088: Torque profile type ............................................................................. 108
Appendix A: Dimension Index Table .................................................................................
109
Appendix B: Notation Index Table......................................................................................
110
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
iv
