ABB FECA-01 EtherCAT, Руководство пользователя

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Communication profiles 71

Cyclic synchronous velocity mode
With this mode, the trajectory generator is located in the master,
not in the drive. The master provides target velocity values
cyclically and synchronously to the drive that performs velocity and
torque control.
The velocity command value is object 0x60FF Target velocity.

Cyclic synchronous torque mode
With the cyclic synchronous torque mode, the master provides
target torque values cyclically and synchronously to the drive that
performs torque control.
The torque command value is object 0x6071 Target torque.