Objektbeschreibung
Im Folgenden erhalten Sie Informationen, welche CoE-Objekte an der Funktion beteiligt sind. Die Konfiguration ist immer abhängig von der Applikation und den Bedingungen an die Umgebung und den Betrieb.
CoE-Objekt | Bezeichnung | Beschreibung |
|---|---|---|
Kanal A 0x6060 Kanal B 0x6860 | Modes of operation | This object shall indicate the requested operation mode. |
Kanal A 0x6061 Kanal B 0x6861 | Modes of operation | This object shall provide the actual operation mode. |
Kanal A 0x3241:01 Kanal B 0x3641:01 | VeloCtrl torque/force
| This object indicates the torque/force controller demand value from the velocity controller |
Kanal A 0x6071:00 Kanal B 0x6871:00 | Target torque/force | This object shall indicate the configured input value for the torque/force controller. The value shall be given per thousand of motor standstill torque/force (0x6076). |
Kanal A 0x60B2:00 Kanal B 0x68B2:00 | Torque/force offset (T set add.) | This object shall provide the offset for the torque/force value. The offset shall be given in per thousand of motor standstill torque/force. In cyclic synchronous position mode and cyclic synchronous velocity mode, this object contains the input value for an external calculated torque/force feed forward. In cyclic synchronous torque mode it contains the commanded additive torque/force of the drive, which is added to the target torque/force value. |
Kanal A 0x3061:03 Kanal B 0x3461:03 | Interpolated acceleration demand value (T ff) | This object indicates the torque/force controller demand value from the interpolator. |
Kanal A 0x6076:00 Kanal B 0x6876:00 | Motor standstill torque | This object indicates the motor standstill torque (M0)/force (Fc). "Standstill current" (I0) will be multiplied by the torque constant (Kt)/(Kf). The value is scaled to mNm/mN. |