Chapter 7 EtherCAT Communication
Target torque not reached
Torque instruction not followed
Torque instruction followed
7.4.7.3 Function description
• Control mode: Set P02.00 = 8;
• Running mode: Set 6060h = 10;
• Target torque setting: 6071h is used to set the target torque of the user unit, unit 0.1%;
• Speed limit setting: Select the speed limit channel according to the function code object dictionary
2007.0Ah(P07.09 forward speed limit channel) and 2007.0Ch(P07.11 reverse speed limit channel), the default
bus speed limiting, using the maximum profile speed 607Fh and the maximum motor speed 6080h setting, or set
the internal speed limiting channel, then the speed limit is set according to the function code object dictionary
2007.0Bh(P07.10 forward speed limit) and 2007.0Dh(P07.12 reverse speed limit).
• Torque limiting setting: Select the torque limiting channel according to the function code object dictionary
2006.0Dh(P06.12 positive torque limiting channel) and 2006.0Eh(P06.13 negative torque limiting channel), the
default bus torque limiting channel, use the maximum torque 6072h, positive torque limiting 60E0h, negative
torque limiting 60E1h smaller value to set the positive and negative torque limiting value, or set the internal torque
limiting channel, then the torque limiting is set according to the function code object dictionary 2006.0Fh(P06.14
positive torque limit value) and 2006.10h(P06.15 reverse torque limit value).
• Running enable: Enable the drive to run through the control word 6040h;
• Instruction polarity 0x607E:Torque, speed, position instruction logic is set according to the bit corresponding to
the object dictionary 0x607E;
Torque
instruction
polarity
Torque instruction positive logic
Torque instruction inverse logic
Speed instruction positive logic
Speed instruction inverse logic
Position
instruction
polarity
Position instruction positive logic
Position instruction inverse logic
• Torque arrival function:
This function defines whether the actual torque feedback has reached the torque window. If the difference
between the actual torque feedback of the drive (6077h) and the torque reference value (2007.0Eh) is greater
than the torque arrival effective value (2007.0Fh), the bit10(target_reached) of the status word is set to 1. The
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