Object description
In the following you will find information about which CoE objects are involved in the function. The configuration is always dependent on the application and environmental and operational conditions.
CoE object | Designation | Description |
|---|---|---|
Channel A 0x6060 Channel B 0x6860 | Modes of operation | This object shall indicate the requested operation mode. |
Channel A 0x6061 Channel B 0x6861 | Modes of operation | This object shall provide the actual operation mode. |
Channel A 0x3241:01 Channel B 0x3641:01 | VeloCtrl torque/force
| This object indicates the torque/force controller demand value from the velocity controller |
Channel A 0x6071:00 Channel 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). |
Channel A 0x60B2:00 Channel 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. |
Channel A 0x3061:03 Channel B 0x3461:03 | Interpolated acceleration demand value (T ff) | This object indicates the torque/force controller demand value from the interpolator. |
Channel A 0x6076:00 Channel 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. |