Data Sheet

Copyright © Roboteq Inc. 2018. All Rights Reserved. 20
TABLE 29 - VELOCITY ACTUAL VALUE
Sub-Index
00
Optional
CND
Type
S32
Access
RO
PDO
T
Value Range
Default
RoboCommand
F
Description
This object shall provide the actual velocity value, in RPM, derived
either from the velocity sensor or the position sensor.
3.13 0X6071 - TARGET TORQUE (TQ)
Table 30 gives a short description of the object.
TABLE 30 - TARGET TORQUE
Sub-Index
00
Optional
CND
Type
S16
Access
RW
PDO
R
Value Range
Default
0
RoboCommand
TC
Description
This object shall indicate the configured input value, in Amperes*10,
for the torque controller in profile torque mode.
3.14 0X6077 - TORQUE ACTUAL VALUE (TQ)
Table 31 gives a short description of the object.
TABLE 31 - TORQUE ACTUAL VALUE
Sub-Index
00
Optional
CND
Type
S16
Access
RO
PDO
T
Value Range
Default
RoboCommand
A
Description
This object shall provide the actual value of the torque, in
Amperes*10. It shall correspond to the instantaneous torque in the
motor.
3.15 0X607A - TARGET POSITION (PP)
Table 32 gives a short description of the object.