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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 setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach 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 HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position mode is set after a RESET of the drive.

An operating mode only becomes valid when it can be read by Object 6061h.

WARNING

Automatic Start
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.

Never change the mode while the motor is running!
Set the speed setpoint to 0 before changing over.

Index	6060h
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
Default value	—

Supported modes (negative values are manufacturer specific modes):

Value (hex)	Mode
-3	Analog current mode
-2	Analog velocity mode
-1	Electronic gearing mode
1	Profile position mode
3	Profile velocity mode
4	Profile torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist mode
6	Homing mode
7	Interpolated position mode
8	Cyclic synchronous position mode

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