149
6067h
00h
Position arrival
threshold
RW
DINT32
Command
unit
1
～
32000
—
6068h
00h
Position arrival
window
RW
INT16
ms
0
～
65535
0
606Ch
00h
Velocity actual value
RO
DINT32
0.1rpm
—
—
6071h
00h
Target torque
RW
INT16
1%
±800
0
6072h
00h
Max. torque
RW
UINT16
1%
0
～
800
200
6074h
00h
Torque demand value
RO
INT16
1%
—
—
6077h
00h
Torque actual value
RO
INT16
1%
—
—
607Fh
00h
Max profile velocity
RW
UDINT32 rpm
0
～
13000
—
7.5.2 Related functions
1
）
Torque reached.
Index
Sub-index
Name
Description
2002h
26h
Range of
torque reached
When the difference between the actual torque
and based value is larger than 2002h-26h, the
signal of torque reached is output, and status
word 6041h bit10 is set to 1. When the difference
is smaller than 2002h-26h, the signal of torque
reached is invalid, and status word 6041h bit10 is
cleared to 0.
2
）
Speed Limit in torque control:
Index
Sub-
index
Name
Access
Data
format
Unit
Setting
range
Default
2002h
0Bh
Speed limit
source
RW
INT16
N/A
0
～
2
0
Value Description
0
The speed limit is set in 2002h-0Ch.
1
Reserved
2
The speed limit is lower value between 607Fh and motor actual spe d.
7.5.3 Recommended configuration
The basic configuration for the PT mode is as below table:
RPDO
TPDO
备注
6040h: control word
6041h: status word
Mandatory
