Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-64 Compendium Motion Control SIMOVERT MASTERDRIVES
8.5.6.3 Modes of operation
All available modes are listed in the following table.
The last column in the table specifies the unit which provides the mode.
Object 6060
h
(modes of operation)
Type
Integer8
Access
wo
PDO mapping
Yes
Modes of
operation
Mode
Device which
supports mode
FBh Automatic single block mode
MASTERDRIVES MC
with F01
FCh Automatic position mode
MASTERDRIVES MC
with F01
FDh Setup mode MASTERDRIVES MC
FFh Synchronous mode
MASTERDRIVES MC
with F01
1h Profile position mode MASTERDRIVES MC
3h Profile velocity mode MASTERDRIVES MC
4h Torque profile mode
MASTERDRIVES MC
without F01
6h Homing mode MASTERDRIVES MC
Where specified in the above table, "MASTERDRIVES MC" applies to
MASTERDRIVES MC units both with and without F01.
On the general CANopen device, the data for free connection is
transferred in the highest bits of connector 3002. The highest bits of
parameter P734.02 are transferred with object 6061.
NOTE
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