Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 60)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Device control
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.7.4 Operating mode changeover
The drive behaviour depends on the operating mode selected. The operating mode
changeover is executed via the 0x6060 object (mode of operation) in the communication
states PREOPERATIONAL or OPERATIONAL by the master control. Access is possible via SDO
or PDO.
 Only one operating mode at a time can be active.
 Except for the "Homing Mode" the operating modes differ in the way the setpoints are
selected.
 The following table shows the permissible operating modes with the corresponding
object value:

Tip!
The currently set operating mode can be read via the
0x6061 object (mode of
operation display). Here, access is also possible via SDO or PDO.
Except for the source of the setpoint selection, the operating mode "
Interpolated
position mode " corresponds to the operating mode "Cyclic synchronous position
mode".
Operating mode Object value Setpoint selection
Homing mode 6 - (Homing function)
Interpolated position mode 7 Position
Cyclic synchronous position mode (IEC 61800-7) 8 Position
Cyclic synchronous velocity mode (IEC 61800-7) 9 Speed
Cyclic synchronous torque mode (IEC 61800-7) 10 Torque
- All other values - (Standstill)