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!
|
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 |