Profile Torque mode (tq)

Profile Torque mode allows the control device to transmit a Target_Torque value to the drive device, which is processed using the Torque_slope within the trajectory generator. Only linear ramp (trapezoidal profile) is supported. This mode can only be used if Closed Loop modality is active.

Related objects:

Index	Object	Name	Type	Attr.	M/O
6040.0H	VAR	Controlword	UNSIGNED16	rw	M
6041.0H	VAR	Statusword	UNSIGNED16	ro	M
6071.0H	VAR	Target_Torque	INTEGER16	rw	M
6072.0H	VAR	Max_Torque	UNSIGNED16	rw	O
6074.0H	VAR	Torque_demand	INTEGER16	ro	O
6077.0H	VAR	Torque_actual_value	INTEGER16	ro	M
6078.0H	VAR	Current_Actual_Value	INTEGER16	ro	O
6087.0H	VAR	Torque_slope	UNSIGNED32	rw	M
2230H	ARRAY	Closed Loop	INTEGER32	rw	O
2005.4H	VAR	Nominal_Current	UNSIGNED16	rw	M
2B08.0H	VAR	Torque_window	UNSIGNED16	rw	O
2B09.0H	VAR	Torque_window_time	UNSIGNED16	rw	O