6061 Modes of operation display

This object shall provide the actual operation mode.

Description

Value

Index

0x6061 (Ch A)/ 0x6861 (Ch B)

Subindex

0x00

Datatype

ENUM (INT8)

Min. Value

 

Default

 

Max. Value

 

Unit

 

Access / EtherCAT-State

Ro

PDO Mapping

Transmit / Dynamic Transmit

Revision

All

Enum Value

Description

15 (0x0F)

Cyclic_synchronous_position_mode_with_additional_feedback_CSPAF

11 (0x0B)

Cyclic_synchronous_torque_mode_with_commutation_angle_CSTCA

10 (0x0A)

Cyclic_synchronous_torque_mode_CST

9 (0x09)

Cyclic_synchronous_velocity_mode_CSV

8 (0x08)

Cyclic_synchronous_position_mode_CSP

0 (0x00)

No_mode_change

-1 (0xFF)

Cyclic_synchronous_position_mode_with_additional_feedback_CSPAF_preliminary

-9 (0xF7)

Cyclic_synchronous_velocity_mode_remote_CSVr

-10 (0xF6)

Cyclic_synchronous_torque_mode_remote_CSTr