User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
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Note
It is not allowed to write the same mode number twice to object 6060
h
. So before
writing a new value to object 6060
h
, either check object 6061
h
or object 6060
h
to
see if the operating mode has not already been set to that value.
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 199: 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 200: Object Description (6061
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 see table 199 0
Table 201: 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.
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