CANopen Technical Guide | ASDA-A2 (Please refer to the following “Details of Objects” section for more detailed descriptions) 3.5 Profile Torque Mode 3.5.1 Description Drive could receive torque command and plan profile torque slope. 3.5.2 Operation Procedure ① Set 【 Mode of operations:6060h 】 to profile torque mode(4). ② Set 【 Controlword:6040h 】 to servo on drive and make motor work. cleared. It means the drive is servo-on, then starts receiving torque command.) (After drive switches to servo-on, internal torque command will be reset and OD-6071h will be ③ Set 【 Torque slope:6087h 】 to plan torque slope time. (unit:
millisecond from 0 to 100 ﹪ rated torque) ④ Set 【 Target torque:6071h 】 to target torque. The unit is given per thousand of rated torque. (OD-6071h will be cleared to zero if OD-6060h[Mode] changed, Servo-Off or Quick-Stop is activated.) 3.5.3 Advanced Host could get information about torque mode. Query 【 Torque demand value:6074 h 】 to get output value of the torque limit function. (unit: per thousand of rated torque) Query 【 Torque rated current:6075 h 】 to get the rated current depending on the motor and drive Query 【 Torque actual value:6077 h 】 to get instantaneous torque in the drive motor. (unit: per type. (unit:
multiples of milliamp) thousand of rated torque) Query 【 Current actual value:6078 h 】 to get instantaneous current in the drive motor. (unit: per thousand of rated current) Revision Sep, 2012 20 Index Name Type Attr. 606D h Velocity window UNSIGNED16 RW 606E h Velocity window time UNSIGNED16 RW 606F h Velocity threshold UNSIGNED16 RW 60FF h Target velocity INTEGER32 RW