NANOTEC PD4-C, Technical Manual, Page: 227 / 256

9 Description of the object dictionary
Description
This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque;
"1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203B
h
:01.
The target torque may not exceed the peak torque (proportional to the peak current in 2031
h
).
6077h Torque Actual Value
Function
This object indicates the current torque value in tenths of a percent of the rated torque for the internal
controller.
Object description
Index 6077
h
Object name Torque Actual Value
Object Code VARIABLE
Data type INTEGER16
Savable no
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 0000
h
Firmware version FIR-v1540
Change history
Description
This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque;
"1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203B
h
:01.
The target torque may not exceed the peak torque (proportional to the peak current in 2031
h
).
607Ah Target Position
Function
This object specifies the target position in user-defined units for the Profile Position and Cyclic Synchronous
Position modes.
Object description
Index 607A
h
Object name Target Position
Object Code VARIABLE
Data type INTEGER32
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000FA0
h
Version: 2.0.1 / FIR-v1650 227