Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
60
of 80
modes_of_operation 0x6060 f P1000 OperationModeSet P1000 f 0x6060
Conversion formalism x = -128 .. 127 f y = x x = -128 .. 127 f y = x
Manufacturer specific x = -106 y’ = -6 y’ only internal in the controller
Manufacturer specific x = -7 f y = x Autotuning x = -7 f y = x
Manufacturer specific x = -6 f y = 5 Spindle positioning x = -6 f x = -106
Manufacturer specific x = -5 f y = x Synchronous operation with
electronic gearing
x = -5 f y = x
Manufacturer specific x = -4 f y = x Position control or Interpo-
lated position mode
x = -4 f y = -4 or
y
= -7
Depending on the adjusted mode:
mode = -4 position control
mode = 7 IP mode (internally the
controller is switched to mode = -4 )
Manufacturer specific x = -3 f y = x Speed control x = -3 f y = 3
Manufacturer specific x = -2 f y = x Current control x = -2 f y = x
Manufacturer specific x = -1 f y = x Find notch position x = -1 f y = x
reserved x = 0 not used x = 0
Profile position mode x = 1 f y = x Target position set value x = 1 f y = x
Velocity mode x = 2 f y = x Speed setting 1 x = 2 f y = x
Profile velocity mode x = 3 f y = -3 not used x = 3 f y = -3
Torque profile mode x = 4 f y = x not used x = 4
reserved x = 5 Jog operation x = 5 f y = -6
Homing mode x = 6 f y = x Homing operation x = 6 f y = x
Interpolated position mode x = 7 f y = -4 not used x = 7
reserved x = 8 .. 127 not used x = 8 .. 127
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index
re-scaling
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