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) | |||