14.6 Torque Control Modes
14.6.2 Cyclic Sync Torque Mode
14-20
14.6.2
Cyclic Sync Torque Mode
In the Cyclic Synchronous Torque Mode, the master provides the
target torque
to the Servo
Drive, which performs torque control.
Related Objects
*
The rated motor torque is 100%.
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
6071h
0
Target torque
RW
Yes
0.1%
*
INT
6074h
0
Torque demand value
RO
Yes
0.1%
*
INT
6077h
0
Torque actual value
RO
Yes
0.1%
*
INT
60B2h
0
Torque offset
RW
Yes
0.1%
*
INT
6072h
0
Max torque
RW
Yes
0.1%
*
UINT
60E0h
0
Positive torque limit value
RW
Yes
0.1%
*
UINT
60E1h
0
Negative torque limit value
RW
Yes
0.1%
*
UINT
+
Torque
limit
function
Target torque (6071h)
Torque
demand
value
(6074h)
Position
user unit
(2701h: 1, 2701h: 2)
Velocity
user unit
(2702h: 1, 2702h: 2)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Position actual
internal value (6063h)
Max torque (6072h)
Torque limit values (60E0h and 60E1h)
Torque offset (60B2h)
+
Motor
Encoder
Torque
control
Multiplier
