Siko AG06 - Status Word; Modes of Operation

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 109 of 114
9.13.2.55 6041
h
: Status word
The object 6041
h
is the status word of the state machine for drives according to the device
profile CiA DSP-402.
Sub-index
00
h
Description
Status word
Access
read-only
PDO mapping
yes
Data type
Unsigned16
Default
no
EEPROM
no
Format description:
See chapter 9.5: Status word
PDO mapping:
The status word is mapped on the three Transmit PDOs (see objects 1A00
h
– 1A03
h
).
9.13.2.56 6060
h
: Modes of Operation
The operation mode of the actuator is set via object 6060
h
.
Sub-index
00
h
Description
Operating mode (see chapter 8: Parameter description  Parameter no. 20)
Access
read-write (recordable in the "Pre-Operational" and "Operational" states,
cannot be written with active travel job)
PDO mapping
no
Data type
Integer8
Default
1
EEPROM
yes
Value range
1 … 2
Data description:
Value = 1: Profile Position Mode (positioning mode)
Value = 2: Profile Velocity Mode (velocity mode)