Interface TorqueProfileConfig

Delay, in milliseconds, to hold at the target before issuing a quick stop. Only effective when targetReachTimeout is set.

Interval, in milliseconds, at which to poll the target reached bit (0x6041:00). Only effective when targetReachTimeout is set. Defaults to 1000 ms.

Controls whether a quick stop is issued after the target is reached.

• false (default): issues a quick stop after the target is reached and holdingDuration elapses, then waits for the CiA402 state determined by the quick stop option code (0x605A): Quick Stop Active if the code is 6, Switch On Disabled otherwise. Requires targetReachTimeout to be a positive number, otherwise an error is thrown.
• true: the device remains in the Operation Enabled state; no quick stop is issued. If targetReachTimeout is also set, the function still waits for the target reached bit before returning, but does not stop the drive.

Torque slope (0x6087:00).

Target torque (0x6071:00).

Time, in milliseconds, to wait for the target reached bit to be set in the statusword (0x6041:00). An error will be thrown if the target is not reached within this duration.

Torque window (0x2014:01).

Torque window time (0x2014:02).