User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 0/1/3/6/8/9/10 0
Table 72: Entry Description (6060
h
)
5.0.2 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)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
Table 73: 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 74: Object Description (6061
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 0/1/3/6/8/9/10 0
Table 75: Entry Description (6061
h
)
5.0.3 Object 6502
h
: Supported Drive Modes
This object provides information on the supported drive modes (0: not supported, 1: supported). This
object is organized bit-wise. The bits have the following meaning:
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