TR-Electronic MP-200 - Object 0 X6060: Operation Mode; Object 0 X6061: Operation Mode Display; Object 0 X6062: Required Position; Table 33: Values for Operating Mode

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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 97 of 153
9.4.10 Object 0x6060: Operation Mode
Object code
VAR
Data type
INTEGER8
Attribute
rw
Default
0
Min
-128
Max
127
PDO mapping
yes
Description
This parameter is used to define the current operating mode.
The following values are supported by the encoTRive:
Table 33: Values for operating mode
Value
Meaning
1
Profile Position
3
Profile Velocity
6
Homing (position adjustment)
8
Cyclic sync Position
9
Cyclic sync Velocity
10
Cyclic sync torque
9.4.11 Object 0x6061: Operation Mode Display
Object code
VAR
Data type
INTEGER8
Attribute
ro
Default
-
Min
-128
Max
127
PDO mapping
yes
Description
This parameter is used to display the current operating mode (see Table 33,
page 97).
9.4.12 Object 0x6062: Required Position
Object code
VAR
Data type
INTEGER32
Attribute
ro
Default
0
Min
-
Max
-
PDO mapping
yes
Description
This object, in position units, contains the position to be moved to, resulting from
the control algorithm.