User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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Object Description
Index Name Object Type Data Type
6071
h
Target Torque Variable SIGNED32
Table 220: Object Description (6071
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Target Torque yes -90000 90000 0 [mA] RW
Table 221: Entry Description (6071
h
)
11.1.4 Object 6072
h
: Max Torque
Max. allowed absolute motor current. *This value can be temporarily exceeded marginal due to the
operation of the current regulator.
Object Description
Index Name Object Type Data Type
6072
h
Max Torque Variable UNSIGNED32
Table 222: Object Description (6072
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Max Torque no 0 90000 4000 [mA] (peak) RW
Table 223: Entry Description (6072
h
)
11.1.5 Object 6074
h
: Torque Demand Value
This object gives the internal target motor current.
Object Description
Index Name Object Type Data Type
6074
h
Torque Demand Value Variable SIGNED32
Table 224: Object Description (6074
h
)
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