5.4.2.3 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:
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 6061h.
Automatic Restart!
Risk of death or serious injury for humans working in the machine. The drive could move unex-
pectedly. When the drive is enabled, a mode change is only permissible at zero speed.
Never change the mode while the motor is running!
Set the speed setpoint to 0 before changing over.
Index 6060h
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 â
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
S300-S700 CANopen | 5 îîCANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 61
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