3.1.9.1.112 0x6060 Modes of operation
Use this object to request an operation mode.
NOTE This object shows only the value of the requested operation mode, the actual operation mode of the PDS is reflected in
Object 0x6061:0.
Value Definition
-2 Diagnostics mode
-1 Cogging compensation recording mode
+1 Profile position mode
+3 Profile velocity mode
+4 Torque profile mode
+6 Homing mode
+8 Cyclic sync position mode
+9 Cyclic sync velocity mode
+10 Cyclic sync torque mode
The modes can be switched dynamically while in state Operation enabled.
Ensure that all required PDO data is available for the mode you are switching to.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Modes of
operation
0x6060:0 SINT 8 0 readwrite Receive
PDO
(Outputs)
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