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Target Torque(6071h) PDO description
#1
Hello
I am currently working on an application where I am setting the mode of the operation equal to 10(cyclic synchronous torque mode).
I am using the PPMAC 465 CPU as Ecat Master and ABB's motiflex e180 as EtherCAT Slave.
Drive maximum current 50A
Motor continuous current 19A
one gearbox (40:1) attached to the motor.
Case 1:
MaxDAC = 1000
PDO corresponds to a 6071h value ranging from -200 to +200 but sometimes it fluctuates up to 1000.

case 2:
MaxDAC = 2000
PDO corresponds to 6071h value ranging from -400 to +400 but sometimes it fluctuates up to 1319.

Does anyone know what is the expected range for Target torque(6071h And how the value of the MaxDac affect the range?
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#2
This would be detailed in your drive manufacturers documentation. The value is typically given per thousand of rated torque.
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#3
Target torque is the output of our servo loop. The numbers you mention for target torque are probably close to Following Error * Motor[x].Servo.Kp.Target torque will be saturated at a value of Motor[x].MaxDac.

You would need information from the drive manufacturer to find out how much current target torque of 1000 is.
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