60B2h, 68B2h Torque offset - AxisX
This object sets a current/torque offset in CANopen torque units per thousand (1‰) of the axis' rated torque (AXIS#.ICONT
). Rated torque is the minimum of the peak current of the motor or drive. This value can also be viewed from WorkBench using the keyword AXIS#.FBUS.IL.FF. The loops are updated every cyclic fieldbus cycle. The fieldbus controller manages jumps in current command due to this feed forward when starting, stopping, switching opmodes, and all other transitions.
-
- SDO access is Read/Write and PDO access is Write Only.
Axis 1
| Parameter |
Index |
Sub-Index |
Data Type |
Float Scale |
Units |
Access |
PDO Mappable |
SMM Versions |
| Torque offset - Axis 1 |
60B2h |
0 |
Signed16 |
- |
- |
Read/Write |
Yes |
All |
Axis 2
| Parameter |
Index |
Sub-Index |
Data Type |
Float Scale |
Units |
Access |
PDO Mappable |
SMM Versions |
| Torque offset - Axis 2 |
68B2h |
0 |
Signed16 |
- |
- |
Read/Write |
Yes |
All |
