Festo CiA 402 Manual page 105

6 Operating modes
Value Meaning
1 Profile Position Mode (position controller with positioning mode)
2 Velocity Mode (speed regulator without setpoint ramps)
3 Profile Velocity Mode (speed regulator with setpoint ramps)
4 Profile Torque Mode (torque controller with setpoint ramp)
6 Homing Mode (homing)
7 Interpolated Position Mode
Since a change in operating mode can take some time, one must wait until the newly
selected mode appears in the object modes_of_operation_display.
Object 6061 : modes_of_operation_display
h
In the object modes_of_operation_display, the current operating mode of the motor controller can be
read. If an operating mode is set via the object 6060
value activations (setpoint value selector) needed for operation of the motor controller under CANopen
must also be made.
In addition, the setpoint value ramp is always switched on. Only if these activations are set in the stated
way will one of the CANopen operating modes be returned. If these settings are revised, with the para-
metrisation software, for example, a respective "user" operating mode is returned to show that the
selectors have been changed.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
6061
h
modes_of_operation_display
VAR
INT8
ro
yes
–
-1, -11, -12, -13, -14, -15, 1, 2, 3, 4, 6, 7
3
, besides the actual operating mode, the setpoint
h
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