6060h, 6860h Modes of operation - AxisX

This object is used to set the operating mode. Depending on the mode of operation, specific setpoint objects and bits within the controlword (6040h) and statusword (6041h) are used. To confirm an operation mode is active, use the mode of operation display object (6061h).

Depending on the mode, some setpoints may need to be re-sent after switching modes. For example, the homing velocity in mode 6 - Homing mode.

 

Automatic Restart!


  • Depending on the mode, if the mode is switched while the axis is enabled, the axis may move unexpectedly. Verify axis is disabled or setpoints are zeroed out when switching modes.

 

Value (hex) Mode
-2 Analog velocity mode
-1 Analog torque 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

Axis 1

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Modes of operation - Axis 1 6060h 0 Signed8 - - Read/Write Yes All

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Modes of operation - Axis 2 6860h 0 Signed8 - - Read/Write Yes All