IMD 100 Integration manual 4189360015 Rev. G
Units conversion
Page 187 of 243
10.6.1 Converting torque raw values to Nm
To convert any torque value in raw values to Nm use the following formula:
𝑁𝑚 =
𝑇𝑜𝑟𝑞𝑢𝑒
𝑟𝑎𝑤_𝑣𝑎𝑙𝑢𝑒
∗ 𝐼 𝐷𝑒𝑣𝑖𝑐𝑒 ∗ 𝐷𝑓 ∗ 𝐾
𝑇
32767
Nm: Motor torque in Newton metre
K
T
: Specific torque constant of the actual motor
Df: Device factor, depending on the IMD type, I
extended bit, and Peak plus option:
Type
Peak plus I extended
Df
IMD 122 B/C
1.5
IMD 122 B/C
1.725
IMD 122 C
N/A
2.25
IMD 135 C
2.6
IMD 135 C
3
IMD 135 C
N/A
4
Example of converting a torque value of
2000 units:
2000 ∗ 60 ∗ 1.5 ∗ 2.66
32767
= 14.61
2000 Torque
raw_value
≈ 14.6 Nm
I Device (0xC6) / 10
= 600/10 = 60
K
T
= 2.66
Df
= 1.5
Torque
value
= 2000
10.6.2 Converting Torque Nm to raw values
To convert any torque value in raw values to Nm use the following formula:
𝑇𝑜𝑟𝑞𝑢𝑒
𝑟𝑎𝑤_𝑣𝑎𝑙𝑢𝑒
=
𝑇𝑜𝑟𝑞𝑢𝑒
𝑁𝑚
∗ 32767
𝐼 𝐷𝑒𝑣𝑖𝑐𝑒 ∗ 1.5 ∗ 𝐾
𝑇
Nm: Motor torque in Newton metre
K
T
: Specific torque constant of the actual motor
Df: The same as in previous section
Example of converting a torque value of 14 Nm:
14 ∗ 32767
60 ∗ 1.5 ∗ 2.66
= 1916.2
14 Torque
Nm
≈ 1916 Torque
raw_value
I Device (0xC6) / 10
= 600/10 = 60
K
T
= 2.66
Df
= 1.5
Torque
Nm
= 14
