Selecting and switching the Modes

Selection of these modes is done 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


Profile position mode


Profile velocity mode


Torque profile mode


Homing mode


Cyclic Syncronous Position Mode


Cyclic Syncronous Velocity Mode


Cyclic Syncronous Torque Mode

Dynamic Op-Mode switching

The modes can be switched while in state Operation enabled.


Ensure that all required PDO data is available for the mode you are switching to.

Use this object to select the desired Mode