Data transfer using CANopen Issue 01/05
CANopen Option Module Operating Instructions
62 6SE6400-5BC00-0BP0
3.3.4 Modes of Operation and Modes of Operation display
The CANopen object 0x6060 "modes-of-operation" is used to instruct devices to
change their modes.
Whether the mode of operation of the device was actually changed is indicated in
the object 0x6061 "modes of operation display".
In order to be able to address the CANopen object 0x6060, beforehand, a BICO
connection must be established between P1501 and r2091.12. In CANopen this
means writing the value 282B00C into object 0x25DD*.
MICROMASTER 420/430 only supports the Velocity Mode; MICROMASTER 440
additionally supports the Profile Torque Mode. The definition and the interpretation
of the option module for this object is as follows:
Table 3-20 Significance of the settings in the object Modes of Operation
Modes of
operation
Meaning MICROMASTER reaction
–1 to –128 Manufacturer specific Ignored by MICROMASTER
Return emergency Message
0 Reserved Ignored by MICROMASTER
Return emergency Message
1 Profile position mode Ignored by MICROMASTER
Return emergency Message
2 Velocity Mode Velocity Mode (MICROMASTER 420/430/440)
3
Profile velocity mode Ignored by MICROMASTER
Return emergency Message
4 Profile Torque Mode Profile Torque Mode (MICROMASTER 440)
5 Reserved Ignored by MICROMASTER
Return emergency Message
6 Homing mode Ignored by MICROMASTER
Return emergency Message
7 Interpolation position
mode
Ignored by MICROMASTER
Return emergency Message
8 – 127 Reserved Ignored by MICROMASTER
Return emergency Message
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