Technical Manual PD4-E-M (EtherCAT)6 Operating modes6.8.2 Object entriesThe following objects are necessary for controlling this mode:• 60FFh (Target Velocity): This object must be written cyclically with the speed set value.• 6085h (Quick-Stop Deceleration): This object contains the braking deceleration for the case that aquick-stop is triggered (see "CiA 402 Power State Machine").• 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the eventof a quick-stop (see "CiA 402 Power State Machine").• 6080h (Max Motor Speed): Maximum speed• 60C2h:01h (Interpolation Time Period): This object specifies the time of a cycle; a new set valuemust be written in 60FFh in these time intervals.The following applies here: cycle time = value of 60C2h:01h * 10value of 60C2:02 seconds.• 60C2h:02h (Interpolation Time Index): This object specifies the time basis of the cycles. Currently,only value 60C2h:02h=-3 is supported; this yields a time basis of 1 millisecond.The following objects can be read in this mode:• 606Ch (Velocity Actual Value)• 607Eh (Polarity)6.9 Cyclic Synchronous Torque6.9.1 OverviewDescriptionIn this mode, the controller passes an absolute torque preset via the fieldbus at fixed time intervals(referred to in the following as a cycle). The controller then no longer calculates any ramps, but ratheronly follows the presets.NoteThis mode only functions if closed loop is activated, see also Commissioning closed loop.NoteThe limit switches and, thus, the tolerance bands are active in this mode. For further information onthe limit switches, see Limitation of the range of motion.ActivationTo activate the mode, the value "10" must be set in object 6060h (Modes Of Operation) (see "CiA 402Power State Machine").ControlwordIn this mode, the bits of controlword 6040h have no special function.StatuswordThe following bits in object 6041h (statusword) have a special function:Bit Value Description8 0 The controller is not in sync with the fieldbus8 1 The controller is in sync with the fieldbusVersion: 1.0.1 / FIR-v1748 73
