Operation Modes

CANopen mode of operation	AKD mode of operation	Description
Profile Position	AXIS#.OPMODE 2 (Position) AXIS#.CMDSOURCE 1 (FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design)	6060h = 1 In this mode, the master sets up the target position (607Ah), acceleration (6083h), deceleration (6084h), and velocity setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach (6081h) for the axis to follow. The move is triggered by the control word bit (see 6040h).
Profile velocity	AXIS#.OPMODE 1 (Velocity) AXIS#.CMDSOURCE 1 (Fieldbus)	6060h = 3 In this mode the master sends target velocity command values (60FFh) and the axis will ramp to the set velocity using the profile acceleration (6083h) and deceleration (6084h) values.
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	AXIS#.OPMODE 2 (Position) AXIS#.CMDSOURCE 1 (Fieldbus)	6060h = 6 In this mode homing can be done by the drive using the homing method object (6098h).
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	AXIS#.OPMODE 0 (Torque) AXIS#.CMDSOURCE 1 (Fieldbus)	6060h = 4 In this mode, the master commands 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 using the target torque object (6071h). Units are in % of drive peak torque.
Cyclic Synchronous Position	AXIS#.OPMODE 2 (Position) AXIS#.CMDSOURCE 1 (Fieldbus)	6060h = 8 In this mode, the master calculates move profile and commands motion with cyclic position points using the target position object (607Ah). The axis will interpolate between position updates at 4kHz using the slope between prior points.

Profile Position

(FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design)

6060h = 1

In this mode, the master sets up the target position (607Ah), acceleration (6083h), deceleration (6084h), and velocity setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach (6081h) for the axis to follow. The move is triggered by the control word bit (see 6040h).

Profile velocity

AXIS#.OPMODE 1

(Velocity)
AXIS#.CMDSOURCE 1

(Fieldbus)

6060h = 3

In this mode the master sends target velocity command values (60FFh) and the axis will ramp to the set velocity using the profile acceleration (6083h) and deceleration (6084h) values.

Homing

The 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

AXIS#.OPMODE 2

(Position)
AXIS#.CMDSOURCE 1

(Fieldbus)

6060h = 6

In this mode homing can be done by the drive using the homing method object (6098h).

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

AXIS#.OPMODE 0

(Torque)

AXIS#.CMDSOURCE 1

(Fieldbus)

6060h = 4

In this mode, the master commands 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 using the target torque object (6071h). Units are in % of drive peak torque.

Cyclic Synchronous Position

AXIS#.OPMODE 2

(Position)

AXIS#.CMDSOURCE 1

(Fieldbus)

6060h = 8

In this mode, the master calculates move profile and commands motion with cyclic position points using the target position object (607Ah). The axis will interpolate between position updates at 4kHz using the slope between prior points.