Data Sheet

Copyright © Roboteq Inc. 2018. All Rights Reserved. 19
3.9 0X6060 - MODES OF OPERATION
Table 22 gives a short description of the object and Table 1shows the available modes.
TABLE 26 - MODES OF OPERATION
Sub-Index
00
Optional
CND
Type
S8
Access
RW
PDO
R
Value Range
Default
MMOD(0)
RoboCommand
ROM
Description
The requested operation mode.
3.10 0X6061 - MODES OF OPERATION DISPLAY
Table 27 gives a short description of the object and Table 1 shows the available modes.
TABLE 27 - MODES OF OPERATION DISPLAY
Sub-Index
00
Optional
CND
Type
S8
Access
RO
PDO
Value Range
Default
MMOD(0)
RoboCommand
AOM
Description
The actual operation mode.
3.11 0X6064 - POSITION ACTUAL VALUE (PP)
Table 28 gives a short description of the object.
TABLE 28 - POSITION ACTUAL VALUE
Sub-Index
00
Optional
CND
Type
S32
Access
RO
PDO
T
Value Range
Default
RoboCommand
F
Description
This object shall provide the actual value of the position
measurement device.
The position unit are in sensor counts in Closed Loop Count Position mode. In Closed Loop
Position Relative mode and in Closed Loop Tracking Position mode the position unit is in
range -1000 to 1000 scaled by the minimum and maximum sensor value.
3.12 0X606C - VELOCITY ACTUAL VALUE (PV)
Table 29 gives a short description of the object.