E6581818
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6.1.14. Object 0x6060: Mode of operation
The object shall indicate the requested operation mode.
This module supports the “vl (= 2)” (velocity mode) only.
NOTE: This object shows only the value of the requested operation mode, the actual
operation mode of the PDS* is reflected in the object modes of operation display.
*PDS: Power drive system
Value Definition
-128 to -1 Manufacturer-specific operation modes
0 No mode change/no mode assigned
+1 Profile position mode
+2 Velocity mode
+3 Profile velocity mode
+4 Torque profile mode
+5 Reserved
+6 Homing mode
+7 Interpolated position mode
+8 Cyclic sync position mode
+9 Cyclic sync velocity mode
+10 Cyclic sync torque mode
+11 to +127 Reserved
6.1.15. Object 0x6061: Mode of operation display
This object shall provide the actual operation mode.
This module supports the “vl (= 2)” (velocity mode) only.
6.1.16. Object 0x6502: Supported drive mode
This object shall provide information on the supported drive modes.
This module supports the “vl (= 2)” (velocity mode) only.
31
16 15
10 9 8 7 6 5 4 3 2 1 0
Manufacturer-specific r(reserved) cst csv csp ip hm r tq pv vl pp
MSB LSB
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