ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 42)

7: Modes of Operation
6060h: Modes of operation
6061h: Modes of operation display
7.1 Functional Description
The drive behavior depends on the activated modes of operation. Different modes can be
implemented, although not in parallel. Therefore, the user must activate the required
function by selecting a mode of operation. The modes-of-operation variables are
initialized at reset to “no mode” (value -1). Modes can be set in any state, including
OPERATION ENABLE. At OPERATION ENABLE, the motor stands still until an explicit
motion command is received via a control word. Bit 10 in the statusword (Target reached) is
set.
When switching modes in OPERATION ENABLE, the transition proceeds as if bit 8
(Halt) in the controlword has been set. The motion first stops according to object 605Dh.
The mode actually changes only after a complete stop, according to the definition of
target reached. The actual mode is reflected via object 6061h.
The statusword contains bits whose meaning depends on the mode of operation. When
switching modes, the “mode dependent” bits in the controlword and statusword must be
monitored.
7.2 Objects
Object 0x6060: Modes of operation
Object description:
Index 6060h
Name Modes of operation
Object code VAR
Data type INTEGER8
Category Mandatory
Entry description:
Access Read/write
PDO mapping No
Value range INTEGER8
Default value -1
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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