Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Control Mode 6.3.2
6.3.2.1 Control Mode Selection
The control mode of the slave is set through object 0x6060, and object 0x6061 displays the current control
mode.
0x6060 Modes of operation
Index 0x6060 Object type VAR Name Modes of operation
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 RXPDO rw INT8 - Control mode setting
Byte0: Operation Control Mode
0x00-Mode remains unchanged;
0x01-Profile position mode (PP);
0x02-Velocity mode (VL);
0x03-Profile velocity mode (PV);
0x04-Profile torque mode (PT);
0x05-Reserved;
0x06-Homing mode (HM);
0x07-Interpolation position mode (IP), not supported yet;
0x08-Cyclic Synchronous Position mode (CSP);
0x09-Cyclic synchronous velocity mode (CSV);
0x0A-Cyclic synchronous torque mode (CST).
Byte1: Reserved
Byte2: Power-on default control modes of operation
0x01-Profile position mode (PP);
0x02-Velocity mode (VL);
0x03-Profile velocity mode (PV);
0x04-Profile torque mode (PT);
0x05-Reserved;
0x06-Homing mode (HM);
0x07 - Interpolated position mode (IP);
0x08-Cyclic Synchronous Position mode (CSP);
0x09-Cyclic synchronous velocity mode (CSV);
0x0A-Cyclic synchronous torque mode (CST).
Byte3: Reserved
Note: This data type of this object is UINT8. When configuring the master, you need to configure parameter 0x5FFF or
0x5FFE after this object to align the data length.
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