BECKHOFF AX2000 CANopen communication profile - Manual (Page 87)

4.11.2 Objekt 6077h: Torque actual value
The torque actual value refers to the current torque in the motor. The scaling equates to 1/1000 of
the rated torque.
Index 6077 h
Brief description Torque actual value
Object code VAR
Number of elements 1
Access ro
PDO mapping possible
Value range INTEGER16
Default value 0
4.11.3 Objekt 60C2h: Interpolation time period
The interpolation time period is used for the PLL (phase-locked loop) synchronized positioning
mode.
The time unit (Subindex 1) is determined on the basis of 10
interpolation time index
s; only multiples of
1 ms are permitted. The two values define the internal ASCII parameter PTBASE (multiples of
250 μs).
In order to make use of PLL synchronized mode, SYNCSRC must be set to 3 (synchronization over
CAN) or FPGA set to 3 (AX2xxx 600 only).
Index 60C2 h
Brief description Interpolation time period
Object code RECORD
Number of elements 3
Sub-Indexes:
Sub-index 01h
Brief description Interpolation time units
Access rw
PDO mapping possible
Value range UNSIGNED8
Default value 1
Sub-index 02h
Brief description Interpolation time index
Access rw
PDO mapping possible
Value range -123 ... 63
Default value -3
CANopen for AX2000/2500 87
BECKHOFF
07/2007
CANopen Drive Profile