6060h, 6860h Modes of operation - Axis #

This object is used to set the operating mode. Depending on the mode of operation, specific setpointClosedSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach 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 - HomingClosedThe 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.

 

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
1 Profile position mode
3 Profile velocity mode
4 Profile torqueClosedTorque 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

Axis 1

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

Axis 2

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