User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Object Description
Index Name Object Type Data Type
605E
h
Fault reaction option code Variable UNSIGNED16
Table 167: Object Description (605E
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 2 2
Table 168: Entry Description (605E
h
)
5.1.6 Object 6060
h
: Modes of Operation
This object indicates the requested operation mode. Supported operating modes are:
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 169: Value Description (6060
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
6060
h
Modes of operation Variable SIGNED8
Table 170: Object Description (6060
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 see table 169 0
Table 171: Entry Description (6060
h
)
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