User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Object Description
Index Name Object Type Data Type
605E
h
Fault Reaction Option Code Variable SIGNED16
Table 104: Object Description (605E
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Fault Reaction Option Code no 2 2 2 RW
Table 105: Entry Description (605E
h
)
5.1.6 Object 6060
h
: Modes of Operation
This object indicates the requested operation mode. Supported operating modes are:
0: No mode
1: Profile position mode (pp)
3: Profile velocity mode (pv)
6: Homing mode (hm)
10: Cyclic torque mode (cst)
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 106: Object Description (6060
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Modes of Operation no 0 10 0 RW
Table 107: Entry Description (6060
h
)
5.1.7 Object 6061
h
: Modes of Operation Display
This object shows the operating mode that is currently set.
0: No mode
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