TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Note
It is not allowed to write the same mode number twice to object 6060
h
. So before
writing a new value to object 6060
h
, either check object 6061
h
or object 6060
h
to
see if the operating mode has not already been set to that value.
5.1.7
Object 6061
h
: Modes of Operation Display
This object shows the operating mode that is currently set.
Value Definition
Value
Mode
0
No mode
1
Profile position mode (pp)
2
Velocity mode (vl)
3
Profile velocity mode (pv)
6
Homing mode (hm)
Table 172: Value Description (6061
h
)
The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running
in one of the supported operating modes and the operating mode is then switched to 0.
Object Description
Index
Name
Object Type
Data Type
6061
h
Modes of operation display
Variable
SIGNED8
Table 173: Object Description (6061
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
refer to CiA-402
see table
0
Table 174: Entry Description (6061
h
)
5.1.8
Object 606A
h
: Sensor Selection Code
This object provides the source of the position sensor actual value. It selectes if the built-in magnetic
encoder is to be used for position monitoring.
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