15.11 Cyclic Synchronous Position Mode
15-41
15
Object Dictionary
15.11
Cyclic Synchronous Position Mode
Velocity Offset (60B1h)
In Cyclic Synchronous Position Mode, this object contains the speed feedforward value.
In Cyclic Synchronous Velocity Mode, this object contains the offset value to add to the speed
reference.
Torque Offset (60B2h)
In Cyclic Synchronous Position Mode or Cyclic Synchronous Velocity Mode, this object con-
tains the torque feedforward value. In Cyclic Synchronous Torque Mode, this object contains
the offset value to add to the torque reference.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
60B1h
0
Velocity offset
DINT
RW
Yes
–2,147,483,648 to
2,147,483,647
(default: 0) [Vel. unit]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
60B2h
0
Torque offset
INT
RW
Yes
–32,768 to 32,767
(default: 0) [0.1%]
No
