Torque Setpoint Input And Evaluation Of The Torque Actual Value - Siemens Sinamics S120 Commissioning Manual

Calculation/conversion setpoints/actual values

5.2 Torque setpoint input and evaluation of the torque actual value

5.2 Torque setpoint input and evaluation of the torque actual value
The CANopen object "Target Torque 0x6071" or "Torque actual value 0x6077" is accessed
using PDO or SDO transfer.
The CANopen objects are displayed as default as per mille (1/1000).
Note
The CANopen object index of a specific drive object is calculated as follows:
6071 hex + 800 hex · x (x: drive number 0 ... 7)
6077 hex + 800 hex · x (x: drive number 0 ... 7)
The following parameters must be taken into account to enter the torque setpoint and
evaluate the torque actual value:
● r0333 = rated motor torque
Torque setpoint
The value to be sent to the bus should be calculated as follows:
Process data interface
If the incoming torque setpoint is read in parameter r8850[x], this is formed from the following
calculation:
Example:
In order to see the process value specified via the bus referred to 4000 hex in r8850[x], then
p2003 must be set to r0333.
Actual torque value
The torque actual value is calculated as follows:
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Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface