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 203: Value Description (6061
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
6061
h
Modes of operation display Variable SIGNED8
Table 204: Object Description (6061
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 see table 203 0
Table 205: Entry Description (6061
h
)
5.1.8 Object 606A
h
: Sensor Selection Code
This object provides the source of the position sensor actual value. It selects whether an encoder is to be
used or not.
Value Definition
Value Mode
0 Encoder used
-1 No encoder
Table 206: Value Description (606A
h
)
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