Chapter 7 EtherCAT Communication
7.4.3.2 Control word and status word
The control word under Profile Torque Mode (PT) is the same as the standard definition.
Status word in Profile Torque Mode (PT) :
Status word description in Profile Torque Mode (PT) :
Target torque not reached
7.4.3.3 Function description
• Control mode: Set P02.00 = 8;
• Running mode: Set 6060h = 4;
• 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
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