0x6060 - Modes of operation

Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x6060

0x00

Mode of operation

INT8

RW

Yes

Yes

INT8

1

-

This register modifies the current operation mode. 


Data description:
The register value has the following meaning:

Value

Modes of operation

-2

Open loop vector mode

-1

Open loop scalar mode

1

Profile position mode

2

Velocity mode

3

Profile velocity mode

4

Profile torque mode

6

Homing mode

7

Interpolated position mode

8

Cyclic sync position mode

9Cyclic sync velocity mode
10Cyclic sync torque mode

Different values than the specified are reserved and should not be used.

When changing from one mode to another the demand of the controller variable is not reset. (i.e. when changing from profile velocity mode to profile torque mode the torque demand is not reset and therefore takes last torque demand value).

For further information about the modes of operation, see Modes of operation.