Applied Motion ST10-C-CE - Manual (Page 51)

51 920-0025 Rev K
3/5/2015
CANopen User Manual
0x6071 target_torque
This parameter is the input value for the torque controller in Profile Torque Mode. This
object can only be accessed in Servo (or Step Servo) driver.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER16 rw yes no 0
This object parameter is related to the other torque values, such as torque_slope (index
0x6078) and torque_constant (index 0x7005). Please see Appendix G in this document for
details.
0x6073 max_current
This object shall configure the max current of the drive.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw yes no 0
The unit of this object is 0.01Amps.
0x6074 torque_demand_value
This parameter is the output value of the torque limit function (if available within the torque
control and power-stage function).
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw yes no 0
This object is only available on servo/step-servo drives.
The unit of this object is mNm.
0x6078 current_actual_value
The current actual value refers to the instantaneous current in the drive motor.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER16 rw yes no 0
This object is only available on servo/step-servo drivers.
The unit of this object is 0.01Amps.
0x607A target_position
The Target Position is the position that the drive should move to in position profile mode
using parameters such as velocity, acceleration, and deceleration. The target position is given
in terms of Electrical Gear parameters steps per motor shaft revolution. The target position
will be interpreted as absolute or relative depending on the absolute relative flag (bit 6) in the
controlword.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER32 rw yes no 0