Torque_demand
| Index.Sub | 6074.0H |
| Data Type |
Integer16 |
| Access | Read Only |
| PDO Mappable | TX_PDO (1) |
| Unit | ‰ Nominal_Current |
|
Range |
0 to (‰ Max drive current) |
| Default Value | 0 |
| Store Supported | No |
| Description |
This object is used for Profile Torque mode (tq) and Cyclic Synchronous Torque (cst) modes and provides the actual torque value of the trajectory generator. The value is considered proportional to Nominal_Current (Motor rated current). The value is defined as thousandths of the torque, e.g. ‘500’ means ‘50%’ of the Motor rated torque. |
|
Notes |
(1) available with firmware V03r03 or superior.
|
