User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Value Definition
Value Mode
0 No mode
1 Profile position mode (pp)
3 Profile velocity mode (pv)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
Table 200: Value Description (6060
h
)
The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running
in one of the supported operating modes and the operating mode is then switched to 0.
Object Description
Index Name Object Type Data Type
6060
h
Modes of operation Variable SIGNED8
Table 201: Object Description (6060
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 see table 200 0
Table 202: Entry Description (6060
h
)
Note
It is not allowed to write the same mode number twice to object 6060
h
. So before
writing a new value to object 6060
h
, either check object 6061
h
or object 6060
h
to
see if the operating mode has not already been set to that value.
5.1.7 Object 6061
h
: Modes of Operation Display
This object shows the operating mode that is currently set.
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