Servosila-Device-Reference-0xA020192

is. On the other hand, driving more current through the motor means
generating more heat in the motor's winding. The heat is what burns
electric motors. This means that making a mistake and setting this
parameter too high might have a fatal consequences for the motor.
Setting this parameter too low would mean that the motor is not used to
its full capacity in terms of torque. In short, it is important to set this
parameter right.
Note that if a particular application does not require all the torque the
motor can produce, it would be wise to set the limit lower than a
nominal value suggested by the manufacturer. This would establish a
safety margin at the expense of torque.
The RPDO COB-ID is 0x400.
The Command Code is 0xD4.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - GPIO: Generic Output
This command sets output (0 or 1) on a dedicated GPIO output pin.
Parameter Units Description
Data
type
Position in
Payload
1
Output 0 or 1 This parameter provides a value (0 or 1) to be set as an output on a
dedicated GPIO output pin.
UINT16 2
The RPDO COB-ID is 0x400.
The Command Code is 0xA0.
It is generally not required to continuously send this command to the device.
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