User Manual

PD57/60-1260 CANopen
®
Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2017-DEC-21
65 / 117
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)
3 Profile velocity mode (pv)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
Table 196: 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 197: Object Description (6061
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 0/1/3/6 0
Table 198: 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 selects if an encoder is to be used for
position monitoring and if yes, which encoder will be used. This can either be no encoder, the internal
magnetic encoder, or an externally connected incremental encoder.
Value Definition
Value Mode
0 Internal magnetic encoder
-1 No encoder
-2 External incremental encoder
Table 199: Value Description (606A
h
)
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com