Megmeet M5-N Series - Page 109

Chapter 7 EtherCAT Communication
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bit10(target_reached) of the status word is immediately cleared when the difference between the actual torque
feedback (6077h) and the torque reference value (2007.0Eh) is less than the torque arrival invalid value
(2007.10h).
7.4.7.4 Basic configuration
The following table describes the basic configuration of objects in Cyclic Synchronous Torque Mode (CST).
RPDO object
TPDO object
Note
Control word 6040h
Status word 6041h
Required
Target torque 6071h
Required
Torque actual value
6077h
Optional
Other object
Optional, you can configure it as an SDO
parameter, or use the default
parameters of the drive.