Torque Mode

Torque mode would be used where there is no target position but the motor is required to continuously hold or move at a required maximum torque. In this mode the toque set is a maximum torque and the torque will only be reached if required.

Register Name	Profile Mode = 10	Profile Mode = 11			Description
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
TargetSpeed	S1	41031	4-7	4-7	The maximum speed of the profile
TargetTorque	N1	41033	8-9	8-9	The maximum torque the motor will use while moving. +ve N1 will rotate the motor in a +ve direction (typically CW) -ve N1 will rotate the motor in a -ve direction (typically CCW)
Controlword	R1	41039	14-15	14-15	Bits in the Controlword dictate torque execution. A more detailed description can be found below.
ModeOfOperation	Set with "mop"	41041	16	16	Sets the mode of operation see Setting Mode of Operation
DigitalOUT	N/A	41043	17	17	Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

Controlword Usage

Torque mode uses some specific bits in the Controlword

Bit	Name	Value	Description
B0	Start/New Set Point	0	Do not follow the N1 target torque Target Speed S1 is still executed Do not start a new torque move
		0 → 1	Start a torque move defined by the torque registers 0 → 1 transition is required to start a torque move after an error has been cleared a home has been completed a stop command has been given from CML or an input.
		1	Following N1 target torque
B1	Halt	0	Do nothing
B1	Halt	1	Halt the current profile being executed Halt all torque related parameters (torque & speed)
B2-B3	N/A
B4	Disable	0	Enable the motor
B4	Disable	1	Disable the motor
B5	Reset Error	0 → 1	Reset any error
B6	Set to Zero	0 → 1	Set the current position to 0
B7	Home	0 → 1	Start a home search

The interaction of the halt bit and the new set point (nsp) bit is quite specific. See the table below for additional important interactions.

B0 (nsp)	B1 (Halt)	Description
1	0	Motion profile follows torque and speed values
1	0 → 1	All motion stops
1	1	Motion is inhibited Changes in speed are NOT followed Changes in torque are NOT followed
0	1	Operation is the same as above.
0	0	Motion may resume based on values Torque will NOT be updated Motion will continue if speed > 0

It is important to understand that the halt bit temporarily halts operation. It does not interrupt motion. This means that a rising edge (0 → 1) is not required on B0 to continue operation. To keep prohibiting motion the following could be use

Keep the halt bit at 1
Set target velocity = 0
Move out of torque mode