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.

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• This object only writes the desired operating mode. To verify the actual mode of operation, use 6061h: Modes of Operation Display (DS402).

Automatic Restart! 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	Sub-Index	Data Type	Access	PDO Mappable	Description
0x6060	0	Integer8	RW	RxPDO	Desired mode of operation

Supported modes:

Value (hex)	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
8	Cyclic synchronous position mode