14.13 Profile Torque/Cyclic Synchronous Torque Mode
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Object Dictionary
14.13
Profile Torque/Cyclic Synchronous Torque Mode
Target Torque (6071 Hex)
This object specifies the input torque reference value for Torque Control Mode. Set the value in
units of 0.1% of the motor rated torque.
Torque Demand Value (6074 Hex)
This object gives the currently output torque reference value. The value is given in units of 0.1%
of the motor rated torque.
Torque Slope (6087 Hex)
This object sets the torque output slope to use in Profile Torque Mode. Set the value as the rate
of change per second (0.1%/s) in respect to the motor rated torque.
Motor Rated Torque (6076 Hex)
This object gives the motor rated torque (rated force for a Linear Servomotor). The value is
given in m
⋅
Nm for a Rotary Servomotor, and in m
⋅
N for a Linear Servomotor.
Torque Actual Value (6077 Hex)
For a SERVOPACK, this object contains the same value as the torque reference output value.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6071 hex
0
Target torque
INT
RW
Yes
–32,768 to 32,767
(default: 0) [0.1%]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6074 hex
0
Torque demand
value
INT
RO
Yes
−
[0.1%]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6087 hex
0
Torque slope
UDINT
RW
Yes
0 to 4,294,967,295
(default:1,000)
[0.1%/s]
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6076 hex
0
Motor rated torque
UDINT
RO
No
–[mNm] or [mN]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6077 hex
0
Torque actual value
INT
RO
Yes
−
[0.1%]
No
