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6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-5 Cyclic Synchronous Torque Mode
6
Related Objects
Index (hex)
Subindex
(hex)
Name Access Size Unit Setting range
Default
setting
6040 00 Controlword RW U16 --- 0 to FFFF hex 0000
hex
6041 00 Statusword RO U16 --- --- ---
6060 00 Modes of operation RW INT8 --- 0 to 10 0
6064 00 Position actual value RO INT32 Command
unit
--- ---
606C 00 Velocity actual value RO INT32 Command
unit/s
--- ---
6071 00 Target torque RW INT16 0.1% -5,000 to 5,000 0
6072 00 Max torque RW U16 0.1% 0 to 5,000 5,000
6077 00 Torque actual value RO INT16 0.1% --- ---
607F 00 Max profile velocity RW U32 Command
unit/s
0 to
2,147,483,647
0
60B2 00 Torque offset RW INT16 0.1% -5,000 to 5,000 0
Related Functions
Index (hex)
Subindex
(hex)
Name Description
Refer-
ence
3031 --- Velocity Limit in
Torque Control
--- P. 9-24
01 Velocity Limit Value Sets the velocity limit value in the torque control.
The torque control is performed so that the value
set in the Velocity Limit Value is not exceeded.
P. 9 - 2 4
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