8.1.13. 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
+11 to +127
8.1.14. Object 0x6061: Mode of operation display
This object shall provide the actual operation mode.
This module supports the "vl (= 2)" (velocity mode) only.
8.1.15. 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
Manufacturer-specific
MSB
Value
-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
Reserved
15
r(reserved)
Definition
10
9
8
7
6
cst
csv csp
ip
- 50 -
E6581818⑭
5
4
3
2
1
hm
r
tq
pv
vl
0
pp
LSB