BONFIGLIOLI Vectron Active Cube, User Manual

Page: 134 / 240

12.5.24 0x6071/0 Target Torque
Index Sub-index Meaning Data type Access Map Def.-Val
0x6071 0 Target Torque Integer16 rw Rx 0
The value transmitted via Object 0x6071 is selectable as source Q.808 for various
parameters (e.g.
FT Input buffer percentage
1381).
It is also available as operation mode 95 or inverted as 195 (e.g. for parameter
Refer-
ence Percentage Source
476 in configurations with torque control
Configuration
30
= x30).
A value of 0x3E8 (=1000) corresponds to rated motor torque (100.0 %).
By default, the object 0x6071 is not connected to a device function. To use the object
0x6071 at least one device function has to be linked to the object by parameterization.
The values of Object 0x6071 is limited to -3000 to 3000 (=-300.0…300.0 %).
Parameter Setting
No. Object Min. Max.
0x6071/0 Target Torque -3000
(= 0xF448)
3000
(= 0x0BB8)
Hexadecimal value |6071 Decimal value 0x6071 Percentage of Target Torque
0x03E8 1000 100.0
0x0064 100 10.0
0x0001 1 0.1
0xFF18 -1000 -100.0
0xFF9C -100 -10.0
0xFFFF -1 -0.1
Example:
COB ID CB Index SI Data
Read Request 601 40 71 60 00 00 00
Reply 581 4B 71 60 00 00 00
Write Access 601 2B 71 60 00 64 00
Reply 581 60 71 60 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.5.25 0x6077/0 Torque actual value
Index Sub-index Meaning Data type Access Map Def.-Val
0x6077 0 Torque actual value Integer16 ro Tx
Object 0x6077
Torque actual value displays the torque actual value (see parameter
Torque
224).
A value of 0x3E8 (=1000) corresponds to rated motor torque (100.0 %). Please refer
as well to Object 0x6071.
Example:
COB ID CB Index SI Data
Read Request 601 40 77 60 00 00 00
Reply 581 4B 77 60 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
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CM-CAN ACU
04/13