User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Object Description
Index Name Object Type Data Type
6071
h
Target Torque Variable SIGNED32
Table 214: Object Description (6071
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Target Torque no -90000 90000 0 [mA] RW
Table 215: Entry Description (6071
h
)
9.1.4 Object 6077
h
: Torque Actual Value
The actual motor current.
Object Description
Index Name Object Type Data Type
6077
h
Torque Actual Value Variable SIGNED32
Table 216: Object Description (6077
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Torque Actual Value no -2147483648 2147483647 0 R
Table 217: Entry Description (6077
h
)
9.1.5 Object 60B2
h
: Torque offset
The actual set torque offset.
Object Description
Index Name Object Type Data Type
60B2
h
Torque offset Variable SIGNED32
Table 218: Object Description (60B2
h
)
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