Intelligent Motion Systems MDrive DSP-402, Application Manual

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32 MDrivePlus CANopen R020507
Mode of Operation (6060
h
)
Manuf
. Specif
ic
Mode
s
Re
se
rve
d
Re
se
rve
d
Interpolated P
osition Mode
Re
se
rve
d
Profile P
osition Mode
Profile V
elocity Mode
Homing Mode Velocity Mode Profile T
orque Mode
-1...-128 8...127 0 1 2 3 4 5 6 7
Gray Text modes unsupported by MDrivePlus CANopen
Figure 5.2: Modes of Operation
Object 6061
h
— Modes of Operation Display
The Modes of Operation Display shows the current mode of operation. The meaning of the returned value corresponds to
that of the Modes of Operation option code (index 6060h)
Object Description
Index
6061
h
Name
Mode of Operation Display
Object Code
VAR
Data Type
±Integer8
Entry Description
Access
r
PDO Mapping
n/a
Range
±Integer8
Default
n/a
Data Description
Same as Object 6060h Modes of Operation.
Object 6502
h
— Supported Drive Modes
This object shall provide information on the supported drive modes.
Object Description
Index
6061
h
Name
Mode of Operation Display
Object Code
VAR
Data Type
±Integer8
Entry Description
Access
r
PDO Mapping
n/a
Range
±Integer8
Default
n/a
Data Description
Same as Object 6060h Modes of Operation.