Object 6060h: Modes of Operation (DS402)
This object is used to set the mode, which can be read out by Object 6061h. Two types of operating mode are used:
- manufacturer-specific operating modes
- operating modes as per CANopen drive profile DS402
These operating modes are defined in the CANopen drive profile DS402. After the mode has been changed, the corresponding setpoint must be set once more (for instance, the homing velocity in the mode homing_setpoint). If the position or jogging mode is stored, then the Homing mode is set after a RESET of the drive.
-
- An operating mode only becomes valid when it can be read by Object 6061h.
Risk of death or serious injury for humans working in the machine. The drive could move unexpectedly. When the drive is enabled, a mode change is only permissible at zero speed.
|
Index |
|
Name |
mode of operation |
Object code |
VAR |
Data type |
INTEGER8 |
Category |
mandatory |
Access |
R/W |
PDO mapping |
possible |
Value range |
-3, -2, -1, 1, 3, 4, 6, 7, 8, 9, 10 |
Default value |
— |
Supported modes (negative values are manufacturer specific modes):
Value (hex) |
Mode |
-3 |
Electronic gearing mode |
-2 |
Analog velocity mode |
-1 |
Analog current mode |
1 |
Profile position mode |
3 |
Profile velocity mode |
4 |
Profile torque mode |
6 |
Homing mode |
8 |
Cyclic synchronous position mode |
9 |
Cyclic synchronous velocity mode |
10 |
Cyclic synchronous torque mode |