Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x2021 Negative internal torque limit value
Index 0x2021 Object type VAR Name Negative internal torque limit value
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 ‰ Negative internal torque limit value
Set the negative internal torque limit value, and the unit is permillage of rated torque. Refer to Figure 7.4-7.
Figure 7.4-7. Diagram of torque command limit
Monitor Parameters 6.4.9
0x2075 Digital output status
Index
0x2075
Object type
VAR
Name
Digital output status
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 TXPDO ro UINT32 Digital output status
Provides the digital output status.
0x20A0 Motor Instant Current
Index 0x20A0 Object type ARRAY Name
Motor Instant Current
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO ro UINT8 - Number of phases
0x01 TXPDO ro INT32 pu Phase U current
0x02 TXPDO ro INT32 Phase V current
0x03 TXPDO ro INT32 Phase W current
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