BECKHOFF AX2000 CANopen communication profile - Manual (Page 56)

4.4.2.3 Object 6060h: modes_of_operation (DS402)
This Object is used to set the mode, which can be read out by Object 6061
h
. Two types of operating
mode can be distinguished:
manufacturer-specific operating modes
These modes of operation have been optimized to the functionality of the equipment.
operating modes as per CANopen drive profile DSP402
These operating modes are defined in the CANopen drive profile DSP402.
After the mode has been changed, the corresponding setpoint must be set once more (for instance,
the homing velocity in the mode homing_setpoint). If the position or jogging mode is stored, then the
Homing mode is set after a RESET of the servo amplifier.
An operating mode only becomes valid when it can be read by Object 6061
h
.
WARNING:
Never change the mode while the motor is running!
When the amplifier is enabled, a mode change is only permissible at zero speed.
Set the speed setpoint to 0 before changing over.
Index 0x6060 h
Name mode_of_operation
Object code VAR
Data type INTEGER8
Mode all
Access wo
PDO mapping possible
Unit —
Value range —
EEPROM no
Default value —
Mode decimal hex. Comments
-10 ... -128 F8 h ... 80 h reserved
Electrical gearing -9 F7 h —
Jogging -8 F8 h —
Homing -7 F9 h —
Trajectory -6 FA h —
Analog current -5 FB h —
Analog speed -4 FC h —
Digital current -3 FD h —
Digital speed -2 FE h —
Position -1 FF h mode required for motion tasks
— 0 0 reserved as per DSP402
Positioning (pp) 1 1 h as per DSP402
Speed (vl) 2 2 h not supported
Speed (pv) 3 3 h as per DSP 402
Torque (tq) 4 4 h as per DSP 402 (not supported at present)
— 5 5 h reserved
Homing (hm) 6 6 h as per DSP 402
Interpolation 7 7 h as per DSP 402 (not supported)
— 8 ... 127 8 h ... 7F h reserved
56 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF