4.4.2.3 Object 6060h: Modes of Operation (DS402)
This object is used to set the mode, which can be read out by Object 6061
h
. Two types of operating
mode can be distinguished:
manufacturer-specific operating modes
These modes of operation have been optimized to the functionality of the equipment.
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 servo amplifier.
An operating mode only becomes valid when it can be read by Object 6061
h
.
Unexpected Start!
Risk of death or serious injury for humans working in the machine.
l
Never change the mode while the motor is running!
l
When the servo amplifier is enabled, a mode change is only permissible at zero speed.
l
Set the speed setpoint to 0 before changing over.
Index 6060
h
Name
mode of operation
Object code
VAR
Data type
INTEGER8
Category
mandatory
Access
rw
PDO mapping
possible
Value range
80h ... 88h, 1, 3, 4, 6, 7
Default value
—
Supported modes (negative values are manufacturer specific modes):
Value (hex) Mode
80 Digital velocity control mode
81 Analogue velocity control mode
82 Digital current control mode
83 Analog current control mode
84 Electronic gearing
85 reserved
86 reserved
87 reserved
88 Motion task mode
1 Profile position mode
3 Profile velocity mode
4 Profile torque mode
6 Homing mode
7 Interpolated position mode
CANopen for S300/S700 61
Kollmorgen 11/2018 CANopen Drive Profile
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