3141:09 Collision torque monitoring
This object contains the difference between the effective torque/force and the feed forward torque/force and can be used to detecd a collision.
|
Description |
Value |
|---|---|
|
Index |
VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B) |
|
Subindex |
0x09 |
|
Datatype |
REAL32 |
|
Min. Value |
|
|
Default |
|
|
Max. Value |
|
|
Unit |
depends on value of Object (default = x * 1 Nm) |
|
Access / EtherCAT-State |
Ro |
|
PDO Mapping |
Transmit / Dynamic Transmit |
|
Revision |
All |