Modes Of Operation And Modes Of Operation Display - Siemens MICROMASTER 420 Operating Instructions Manual

Data transfer using CANopen
3.3.4

Modes of Operation and Modes of Operation display

The CANopen object 0x6060 "modes-of-operation" is used to instruct devices to
change their modes.
Whether the mode of operation of the device was actually changed is indicated in
the object 0x6061 "modes of operation display".
In order to be able to address the CANopen object 0x6060, beforehand, a BICO
connection must be established between P1501 and r2091.12. In CANopen this
means writing the value 282B00C into object 0x25DD*.
MICROMASTER 420/430 only supports the Velocity Mode; MICROMASTER 440
additionally supports the Profile Torque Mode. The definition and the interpretation
of the option module for this object is as follows:
Table 3-20
Modes of
operation
–1 to –128
0
1
2
3
4
5
6
7
8 – 127
62
Significance of the settings in the object Modes of Operation
Meaning
Manufacturer specific
Reserved
Profile position mode
Velocity Mode
Profile velocity mode
Profile Torque Mode
Reserved
Homing mode
Interpolation position
mode
Reserved
MICROMASTER reaction
Ignored by MICROMASTER
Return emergency Message
Ignored by MICROMASTER
Return emergency Message
Ignored by MICROMASTER
Return emergency Message
Velocity Mode (MICROMASTER 420/430/440)
Ignored by MICROMASTER
Return emergency Message
Profile Torque Mode (MICROMASTER 440)
Ignored by MICROMASTER
Return emergency Message
Ignored by MICROMASTER
Return emergency Message
Ignored by MICROMASTER
Return emergency Message
Ignored by MICROMASTER
Return emergency Message
CANopen Option Module
Issue 01/05
Operating Instructions
6SE6400-5BC00-0BP0