3.1.8.2.2.3.2 Enable Profile torque mode
To enable the mode, the value 4 (0004h) must be entered in object 0x6060. The Op mode display 0x6061 can
be used to check if the op mode has been set correctly.
Note
Both enabling the halt bit and setting the target torque to zero will ramp down the torque applied to the
motor according to the torque slope. At the end of the slope no torque will be applied to the motor,
allowing the shaft to move freely.
3.1.8.2.2.3.3 Starting/Stopping Torque
To start and stop motion, toggle the controlword halt bit (bit 8). When the halt bit is set to 0, motion will start
or continue; when the halt bit is set to 1, motion will stop. The bit can be toggled by writing 010Fh and 000Fh
to controlword (object 0x6040).
3.1.8.2.2.3.4 Operation Mode dependent Bits of Status- and
Controlword
3.1.8.2.2.3.4.1 Controlword
The torque position mode uses some bits of the controlword for mode specific purposes which are indicated
in yellow. The figure shows the structure of the controlword. For the general structure and usage, please refer
to our Application note on Status- and Controlword.
Halt: Both enabling the halt bit or setting the target torque to zero will ramp down the torque applied to
the motor according to the torque slope object (0x6087). At the end of the slope, no torque will be applied
to the motor, allowing the shaft to move freely.
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