Elmo DSP 402 User Manual
Object 0x6087: Torque slope
This parameter describes the rate of change of torque in units of per thousand of rated
torque per second.
This parameter describes the rate of change of torque in units of per thousand of rated
torque per second.
Object description:
Index 6087h
Name Torque
Name Torque
Slope
Object code
VAR
Data type
UNSIGNED32
Category Mandatory
Entry description:
Access Read/write
PDO mapping
PDO mapping
Yes
Value range
UNSIGNED32
Default value
0
Note: If a user submits a value that is greater than of the maximum admissible value of
this object, then the drive loads the maximum possible value, without issuing a
receive error message.
receive error message.
Object 0x6088: Torque profile type
The torque profile type is used to select the type of torque profile used to perform a torque
change.
change.
Object description:
Index 6078h
Name
Name
Torque profile type
Object code
VAR
Data type
INTEGER16
Category Mandatory
Entry description:
Access Read/Write
PDO mapping
PDO mapping
No
Value range
INTEGER16
Default value
0
Data Description:
Value Description
0
Linear ramp (trapezoidal
profile)
Note: The
SimplIQ
family of digital servo drives works with option 0 (Linear ramp) only.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
108