Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
154
OBJECT DESCRIPTION
INDEX 6061h
Name Modes of operation display
Object Code VAR
Data Type INTEGER8
Category Mandatory
ENTRY DESCRIPTION
Access ro
PDO Mapping Possible
Value Range INTEGER8
Default Value No
DATA DESCRIPTION Same as for object 6060
h modes of operation.
NOTE The actual mode is reflected in the
modes of operation display (index 6061h), and not
in the m
odes of operation (index 6060h).
10.3.3 Functional description
10.3.3.1 Modes of operation function
The device behaviour depends on the activated modes of operation.
It is possible to implement different device modes. Since it is not possible to operate the
modes in parallel, the user is able to activate the required function by selecting a mode of
operation. An example of exclusive functions are those for position and torque control, which
can only control one variable at any one time. The variables can perform at most a limited
function. Such hybrids are regarded as the particular characteristics of a mode of operation.
Position control operation and encoder profile support can be active at the same time, for
example. Consequently encoder profile support is not regarded as a mode of operation.
Operation mode
function
Modes of
operation
(6060h)
Modes of
operation display
(6061h)
Velocity mode
Profile velocity mode
Profile torque mode
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