User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Object Description
Index Name Object Type Data Type
605E
h
Fault reaction option code Variable UNSIGNED16
Table 188: Object Description (605E
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 2 2
Table 189: 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)
3 Profile velocity mode (pv)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
Table 190: 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 191: Object Description (6060
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 0/1/3/6 0
Table 192: Entry Description (6060
h
)
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