0x6060 - Modes of operation
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x6060 | 0x00 | Mode of operation | INT8 | RW | Yes | Yes | INT8 | 1 | - |
This register modifies the current operation mode.
Data description:
The register value has the following meaning:
Value | Modes of operation |
|---|---|
-2 | Open loop vector mode |
-1 | Open loop scalar mode |
1 | Profile position mode |
2 | Velocity mode |
3 | Profile velocity mode |
4 | Profile torque mode |
6 | Homing mode |
7 | Interpolated position mode |
8 | Cyclic sync position mode |
| 9 | Cyclic sync velocity mode |
| 10 | Cyclic sync torque mode |
Different values than the specified are reserved and should not be used.
When changing from one mode to another the demand of the controller variable is not reset. (i.e. when changing from profile velocity mode to profile torque mode the torque demand is not reset and therefore takes last torque demand value).
For further information about the modes of operation, see Modes of operation.