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Profiler in profile torque

The profile torque profiler is implemented according to the following structure:

Torque Profile Structure

Actual torque and current are compared against their maximum values, usually related to the actuator datasheet. Afterwards, the internal target torque is limited by the system limits, if applicable. Finally, the torque demand value is calculated with this internal target torque and the defined torque slope, to avoid applying excessive rotational acceleration that could damage the mechanical system.

Related objects

0x6072 - Max torque

0x6073 - Max current

0x6087 - Torque slope

0x6074 - Torque demand

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