ABB FEPL-02 Ethernet POWERLINK, User Manual

Page: 77 / 142

Communication profiles 77

Process data scaling
Torque data
Torque data is expressed in 0.1% of nominal torque, eg, value 10 =
1% torque.
Velocity data
Velocity data is expressed in position increments per second
(inc/s).
The scaling for the velocity mode is different from other velocity
data. Velocity data for the velocity operation mode is expressed in
axis revolutions per minute (rpm). Additionally, a rational factor by
which the velocity data will be scaled can be set by object 0x604C
vl dimension factor.
Position data
Position data is expressed in position increments (inc).

Process feedback values
Feedback values for control purposes are available in the following
objects:
•
0x6077 Torque actual value
•
0x6044 vl velocity actual value
•
0x606C Velocity actual value
•
0x6064 Position actual value.
For the objects to be operational, the drive must be configured to
transmit the corresponding feedback data to the adapter module.