5.3.36 Object 2071h: Target Current
This parameter can be used alternatively to the DS402 parameter 6071h and is the input to
the torque controller. The value is scaled in mA (milli Amperes).
Index
2071h
Name
Target current
Object code
VAR
Data type
INTEGER 32
Category
optional
Access
RW
PDO mapping
possible
Value range
depends on DRV.IPEAK and MOTOR.IPEAK
Default value
0
5.3.37 Object 2077h: Current Actual Value
This parameter can be used alternatively to the DS402 parameter 6077h. The value is scaled
in mA (milli Amperes).
Index
2077h
Name
Current actual value
Object code
VAR
Data type
INTEGER 32
Category
optional
Access
RO
PDO mapping
possible
Value range
depends on DRV.IPEAK and MOTOR.IPEAK
Default value
0
5.3.38 Object 20A0h: Latch position 1, positive edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the
first positive edge occurred on a signal, which can be configured with CAP0.TRIGGER. The
latch enable must be active for that purpose(see object 20A4 and 20A5). With CAP0.MODE
= 3 the latched position of the encoder index pulse is transferred via this object.
Index
20A0h
Name
Latch position 1 positive edge CAP0.PLFB, Time capture CAP0.T
Object code
VAR
Data type
INTEGER32
Category
optional
Access
R/O
PDO mapping
possible
Value range
INTEGER32
Float scaling
var
Default value
0
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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