SYNAPTICON CIRCULO 7 - Internal Limit Active Bit; Operation Mode Specific Bits for the Statusword

4.1.6.2.2 Operation mode specific bits for the Statusword
Mode of operationMode of operation
1313
1212
1111
1010
88
Profile Position
Following
error
Set-point
acknowledge
Internal limit
Active
Target
reached
N/A
Profile Velocity
N/A
Speed bit
Profile Torque
N/A
Cyclic Synchronous
Position
Target position
ignored
Cyclic Synchronous
Velocity
Target velocity
ignored
Cyclic Synchronous
Torque
Target Torque
ignored
Homing
N/A
4.1.6.2.3 Internal limit Active bit
The values that are limited by this bit differ in each mode:
Limiting object Limited value Operating
modes
Max torque (0x6072) Torque demand value (0x6074) All
Max torque (0x6072) Target torque (0x6071)
Torque offset (0x60B2)
PT / CST
Max. motor speed (0x6080) Velocity demand value (0x606B) CSP / PP
Max. motor speed (0x6080) Profile velocity (0x6081) PP
Max. motor speed (0x6080) Target velocity (0x60FF)Velocity offset (0x60B1). CSV / PV
Software position limit (0x607D) Position demand value (0x6062) CSP/PP
Legend:
PP: Profile Position
PV: Profile Velocity
PT: Profile Torque
CSP: Cyclic Synchronous Position
CSV: Cyclic Synchronous Velocity
CST: Cyclic Synchronous Torque
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