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13.8
[Current actual value (Obj. 6078h)]
[Current actual value (Obj. 6078h: 00h)]
Data Type
Access
I16
RO
Supported firmware version
ECT
B6
Description
The actual current value is returned.
Unit: 0.1 % (with rated current being 100 %)
The value is equivalent to [Torque actual value (Obj. 6077h)].
13.9
[Torque slope (Obj. 6087h)]
[Torque slope (Obj. 6087h: 00h)]
Data Type
Access
U32
RW
Supported firmware version
ECT
A5
Description
Set the amount of change in the torque command per second which is used in the profile torque mode. When "0" is set, the
amount of change cannot be set. In this case, the torque command will be input by step input.
13.10
[Torque profile type (Obj. 6088h)]
[Torque profile type (Obj. 6088h: 00h)]
Data Type
Access
I16
RW
Supported firmware version
ECT
A5
Description
Set the torque command pattern. Only the value "0" can be set.
Setting value
Description
0
Linear ramp
1
sin
13 Profile Torque Mode Objects
166
13.8 [Current actual value (Obj. 6078h)]
Mapping
TxPDO
Mapping
RxPDO
Mapping
RxPDO
2
ramp (not supported)
Default
Range
-32768 to 32767
Default
Range
0
0 to 10000000
Default
Range
0
0 (fixed)
Units
Save
0.1 %
Impossible
Units
Save
0.1 %/s
Possible
Units
Save
Impossible
Parameter
Parameter
[Pr. PT53]
Parameter
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