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
-2 Commutation offset detection 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 Min Data Max Data Default Data Unit Access PDO Mapping
Modes of operation 0x6060:0 SINT 8 0 readwrite Receive PDO (Outputs)