To read the P series actual torque, the easiest way to get this is to change the PDO inputs to 16#1600. You don't need to change the outputs on the left. No changes needed within the program.
Then, if you go to EtherCAT IO mapping, you can input a variable name for the actual torque value and then you can use that variable within your program:
This is faster than doing an SDO transfer as the PDO is updated every EtherCAT cycle.
1/20/16jh
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