Selecting and switching the Modes
Selection of these modes occurs by setting the Object 0x6060 to the corresponding value as defined in the CiA 402 standard.
The modes are called by setting the Object 0x6060 as follows:
|
Value for 0x6060 |
Control Mode |
|---|---|
| -3 | Open loop field mode |
| -2 | Diagnostics mode |
| -1 | Cogging compensation recording mode |
|
+1 |
Profile position mode |
|
+3 |
Profile velocity mode |
|
+4 |
Torque profile mode |
|
+6 |
Homing mode |
|
+8 |
Cyclic sync position mode |
|
+9 |
Cyclic sync velocity mode |
|
+10 |
Cyclic sync torque mode |
Dynamic Op-Mode switching
The modes can be switched while in state Operation enabled.
Attention: Ensure that all required PDO data is available for the mode you are switching to.
| Object ID | Name | Description |
|---|---|---|
| 0x6060 | Op Mode | Use this object to select the desired Mode |