Torque Mode

In this mode, the axis runs at constant torque using the latest command value received from the controller.


  • You will only be able to see the Current Loop in the AKD2G navigation tree while the drive is in Torque Mode. Velocity Loop and Position Loop will not appear in the navigation tree if the drive.

Setup Torque Mode

Before Torque Move commands may be issued, the following conditions must be met:

  • Faults are cleared (If necessary, query the General Fault bit in Status Word 1 and issue an Explicit Message to clear faults.)
  • Axis is enabled (Set Enable bit in the Control Word).
  • Axis is in Torque Mode (Set Attribute 3 Operational Mode of the Position Controller Object).
  • The Command Source must be Fieldbus.
  • Smooth Stop and Hard Stop bits are cleared in Status Word 1.
  • Position Limits are cleared. (Check bits in Status Word 2.)

Torque Moves

Once the axis is setup for Torque Mode, issue Torque commands (Command Type 0x05) to set a torque setpoint in the axis. Torque commands and values are scaled in milliamps RMS.

  • While in motion, issue another Torque command to immediately change the target torque.
  • While a torque command is active, the In Motion bit in Status Word 1 will be set and In Position will be cleared. The Direction status bit will reflect the actual direction of motion.
  • Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled.
  • Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable. To clear this Controlled Stop condition, you must clear the Hard Stop and Enable bits, then set the Enable bit.
  • Torque Move values can be verified in WorkBench. From the terminal, the effective value is AXIS#.IL.CMD