User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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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 193: 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 194: 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 195: Entry Description (6061
h
)
5.1.8 Object 60FD
h
: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects the
state of one digital input. The number of valid bits depends on the number of digital inputs on the module
used.
Object Description
Index Name Object Type Data Type
60FD
h
Digital inputs Variable UNSIGNED32
Table 196: Object Description (60FD
h
)
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