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31Part 2: DSP-402 Implementation
Section 5
Modes of Operation
Object 6060
h
— Modes of Operation
The performance of the MDrivePlus CANopen depends on the activated Modes of Operation. It is not possible to operates
the modes in parallel. The user must select a mode to operate in. An example of exclusive functions are Profile Velocity and
Profile Position modes.
The MDrivePlus allows the user to switch dynamically from operation mode to operation mode.
The IMS MDrivePlus CANopen supports the following Modes of Operation:
Profile Position
Profile Velocity
Homing Mode
Object Description
Index
6060
h
Name
Mode of Operation
Object Code
VAR
Data Type
±Integer8
Entry Description
Access
rw
PDO Mapping
n/a
Range
±Integer8
Default
n/a
Data Description
The actual mode is reflected in the modes_of_operation_display (index 6061h), and not in the modes of operation
(index 6060h). It may be changed by writing to modes of operation.
Operation
Mode
Function
Profile Velocity Mode
Profile Position Mode
Homing Mode
Mode of Operation
(6060
h
)
Mode of Operation Display
(6061
h
)
Figure 5.1: Mode of Operation