ABB FCAN-01 User Manual page 148

148 Communication protocol
Index Sub Access
(hex)
6060 RW
6061 RO
6064 RO
6069 RO
606B RO
606C RO
6071 RW
6072 RW
Type Name
INT8 Modes of
operation
INT8 Modes of
operation
display
INT32 Position
actual
value
INT32 Velocity
sensor
actual
value
INT32 Velocity
demand
value
INT32 Velocity
actual
value
INT16 Target
torque
UINT16 Max
torque
Information
Operation mode request
Bit Mode
-128...-1 Manufacturer-specific
0 Reserved
1 Profile position mode
2 Velocity mode
3 Profile velocity mode
4 Profile torque mode
5 Reserved
6 Homing mode
Note: If the value of parameter 50.04
FBA REF1 MODESEL and 50.05 FBA
REF2 MODESEL of ACSM1 is (5)
AUTO, it is possible to set the mode of
operation with object 6060h. Other-
wise the mode of operation cannot be
changed with this object. See section
Modes of operation on page 90.
Current operation mode
See index 6060h.
See chapter Communication profiles
on page 87.
Value read from a velocity encoder
Demand value from the velocity con-
troller
See chapter Communication profiles
on page 87.
Unit 0.1%
Sup-
port
all
all
pp
pv
pv
pv
tq
all