124 Appendix A – CANopen Object Dictionary
605C 0 Disable
operation
code
I16 RW 1 0 = coast stop
1 = ramp stop (default)
605D 0 Halt option
code
I16 RW 1 vl mode.
1 = force ramp generator input
to zero (default)
2…4 = force ramp generator
output to zero
Note:
Halt does not cause the
drive to stop, merely to run at
a zero speed.
6060 0 Modes of
operation
I8 RW - CiA 402 operation mode
request.
0 = No mode change (default)
1 = Profile position mode (pp)
2 = Velocity mode (vl)
3 = Profile velocity mode (pv)
4 = Profile torque mode (tq)
6 = Homing mode (hm)
Note:
The supported modes
depend on the drive.
6061 0 Modes of
operation
display
I8 R - Current operation mode
6064 0 Position actual
value
I32 R - Operational when position
feedback is available from the
drive
6069 0 Velocity
sensor actual
value
I32 R - Describes the value read from
a velocity encoder.
606A 0 Sensor
selection code
I16 RW -
606B 0 Velocity
demand value
I32 R - Operational if the ramp
function generator output is
available from the drive. Cyclic
low priority communication.
Note:
Not available with
ACS355.
606C 0 Velocity actual
value
I32 R - Operational when velocity
feedback is available from the
drive
6071 0 Target torque I16 RW 0 Input value for the torque
controller in the profile torque
(tq) mode
Index SI Name Ty pe Acc. Def. Information
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