CPB CANopen Technical Manual

6060h Modes Of Operation


The desired operating mode is entered in this object.

Object description

Index 6060h
Object name Modes Of Operation
Object Code VARIABLE
Data type INTEGER8
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00h
Firmware version FIR-v1426
Change history

Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: application".


Mode Description
-2 Auto setup
-1 Clock-direction mode
0 No mode change/no mode assigned
1 Profile Position Mode
2 Velocity Mode
3 Profile Velocity Mode
4 Profile Torque Mode
5 Reserved
6 Homing Mode
7 Interpolated Position Mode
8 Cyclic Synchronous Position Mode
9 Cyclic Synchronous Velocity Mode
10 Cyclic Synchronous Torque Mode
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