Lenze i700 - Manual (Page 189)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
189
7 CiA402 device profile
7.4 Device control
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7.4.3 Selection of the operating mode
The drive behaviour depends on the selected operating mode. The operating mode is selected by the
Controller via the 0x6060 object (or 0x6860 for axis B) in the communication statuses "Pre-
Operational" or "Operational". Access can be effected via SDO or PDO.
• Only one operating mode at a time can be active.
• The operating modes differ by the type of setpoint selection.
• The following table shows the permissible operating modes with the corresponding object
value:

Tip!
The operating mode currently set can be read via the
0x6061 object (or 0x6861 for axis B).
For this object, too, access is possible via SDO or PDO.
Modes of operation Object value Setpoint selection
Velocity mode (vl) 2 Velocity
Cyclic sync position mode (csp) 8 Position
Cyclic sync velocity mode (csv) 9 Velocity
Cyclic sync torque mode (cst) 10 Torque
- All other values - (Standstill)