Drive parameterisation

Drive telegram

The drive must be fitted with a torque interface to be able to use friction compensation.

SERCOS

The additive torque setpoint must be configured in the cyclic log.

• S-0-0084 Torque feedback value
• S-0-0081 Additive torque command value

CANopen

The related PDOs (process data objects) are similarly configured with CANopen.

• 6077 Torque actual value
• 60B2 Torque offset