7.4.2.3 Object 6060h: Modes of Operation (DS402)
This object is used to set the mode, which can be read out by Object 6061h. Two types of operating mode are
used:
l manufacturer-specific operating modes
l operating modes as per CANopen drive profile DS402
These operating modes are defined in the CANopen drive profile DS402. After the mode has been changed, the
corresponding setpoint must be set once more (for instance, the homing velocity in the mode homing_setpoint).
If the position or jogging mode is stored, then the Homing mode is set after a RESET of the drive.
An operating mode only becomes valid when it can be read by Object 6061h.
Never change the mode while the motor is running! The drive could move
unexpectedly. When the drive is enabled, a mode change is only permissible at
zero speed. Set the speed setpoint to 0 before changing over.
Index 6060h
Name mode of operation
Object code VAR
Data type INTEGER8
Category mandatory
Access R/W
PDO mapping possible
Value range 1, 3, 4, 6, 7, 8
Default value —
Supported modes (negative values are manufacturer specific modes):
Value (hex) Mode
1 Profile position mode
3 Profile velocity mode
4 Profile torque mode
6 Homing mode
7 Interpolated position mode
8 Cyclic sync position mode
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 93
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