3.1.8.2.2.3.4.2 Statusword
The mode specific bits of the statusword can be used to monitor the performance of the operation. For further
information please refer to the section on Control Supervision.
Internal limit active:
Max torque 0x6072 limits Torque demand 0x6074, Target torque 0x6071 and Torque offset 0x60B2.
Target reached: the bit is set if the actual torque stays in the window of target torque ± torque window
value for a duration of torque window time.
Objects related to the bit 10 of the statusword:
Torque window value 0x606D Torque window time 0x606E
3.1.8.2.2.3.5 Parameters related to Profile Torque mode
Target torque 0x6071 Torque slope 0x6087
Quick Stop deceleration 0x6085
Max torque 0x6072
Torque demand 0x6074
Torque offset 0x60B2
Torque window value 0x606D
Torque window time 0x606E
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