ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 43)

Data description:
Value Description
-128…-2 Reserved
-1 No
mode
0 Reserved
1
Profile position mode
2 Velocity (not supported)
3 Profiled velocity mode
4 Torque profiled mode
5 Reserved
6 Homing
mode
7 Interpolated position mode
8…127 Reserved
Notes:
A read of this object shows only the value of modes of operation. The actual
mode of the drive is reflected in the modes o
f operation display object. It may be
ted mode causes the transmission of abort
code 0609 0030: Value exceeded.
turned value
modes of operation option code (index 6060h).
Object description:
changed by writing to modes of operation.
An attempt to access an unsuppor
Object 0x6061: Modes of operation display
This object shows the current mode of operation. The meaning of the re
corresponds to that of the
Index 6061h
Name
Modes of operation display
Object code VAR
Data type INTEGER8
Category Mandatory
Entry description:
only Access Read
PDO mapping
No
Value range INTEGER8
Default value -1
Similar to object 6060h, modes of operation.
Data description:
The actual mode is reflected in the modes of operation display (index 6061h),
and not in modes of operation (index 6060h).
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
37