User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
133 / 145
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 399: Entry Description (6064
h
)
11.1.6 Object 6071
h
: Target Torque
This object sets the desired torque value. The value is given in mA.
Object Description
Index Name Object Type Data Type
6071
h
Target torque Variable INTEGER16
Table 400: Object Description (6071
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw yes -32768. . . 32767 0
Table 401: Entry Description (6071
h
)
11.1.7 Object 6077
h
: Torque actual Value
This object provides the actual torque value. The value is given in mA.
Object Description
Index Name Object Type Data Type
6077
h
Torque actual Value Variable INTEGER16
Table 402: Object Description (6077
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro yes -32768. . . 32767 0
Table 403: Entry Description (6077
h
)
11.1.8 Object 607D
h
: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value and the position actual value. Every new
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com