0x6060

0x6060:0 Op Mode

This object indicates the requested 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.

ValueDefinition
-128 to -1Manufacturer-specific operation modes
0No mode change/no mode assigned
+1Profile position mode
+2Velocity mode
+3Profile velocity mode
+4Torque profile mode
+5reserved
+6Homing mode
+7Interpolated position mode
+8Cyclic sync position mode
+9Cyclic sync velocity mode
+10Cyclic sync torque mode
+11 to +127Reserved
Object Type OBJECT_TYPE_VAR
Index 0x6060
SubIndex 0
Type SINT
Bit Size 8
Deftype DEFTYPE_INTEGER8
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category mandatory
PDO Mapping Receive PDO (Outputs)