AKD EtherCAT | 5 Appendix
5.3.54 Object 6060h: Modes of Operation (DS402)
This object is used to set the mode, which can be read out by Object 6061h. Two types of
operating mode are used:
l
manufacturer-specific operating modes
l
operating modes as per CANopen drive profile DS402
These operating modes are defined in the CANopen drive profile DS402. After the mode has
been changed, the corresponding setpoint must be set once more (for instance, the homing
velocity in the mode homing_setpoint). If the position or jogging mode is stored, then the Hom-
ing mode is set after a RESET of the drive.
An operating mode only becomes valid when it can be read by Object 6061h.
WARNING
Automatic Start
Risk of death or serious injury for humans working in the machine. The
drive could move unexpectedly. When the drive is enabled, a mode
change is only permissible at zero speed.
l
Never change the mode while the motor is running!
l
Set the speed setpoint to 0 before changing over.
Index
6060h
Name
mode of operation
Object code
VAR
Data type
INTEGER8
Category
mandatory
Access
R/W
PDO mapping
possible
Value range
-3, -2, -1, 1, 3, 4, 6, 7, 8, 9, 10
Default value
—
Supported modes (negative values are manufacturer specific modes):
Value (hex)
Mode
-3
Electronic gearing mode
-2
Analog velocity mode
-1
Analog current mode
1
Profile position mode
3
Profile velocity mode
4
Profile torque mode
6
Homing mode
7
Interpolated position mode
8
Cyclic synchronous position mode
9
Cyclic synchronous velocity mode
10
Cyclic synchronous torque mode
136
Kollmorgen | kdn.kollmorgen.com | October 2017
