0x6060 Modes of operation
Use this object to request an operation mode.
NOTE This object shows only the value of the requested operation mode, the actual operation mode of the PDS is reflected in Object 0x6061:0.
| Value | Definition |
|---|---|
| -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 |
The modes can be switched dynamically while in state Operation enabled.
Ensure that all required PDO data is available for the mode you are switching to.
| Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Modes of operation | 0x6060:0 | SINT | 8 |
|
readwrite | Receive PDO (Outputs) | |||||||||||||||||||||||||