Emerson 0471-0128-02 manual 6 0x6060 Modesofoperation, 7 0x6061 Modesofoperationdisplay

7.3.60x6060 Modes_of_operation

This object is used to request a change in the mode of operation.

Table 7.17 Modes_of_operation

0x6060	Modes_of_operation
Access: RW		Range: 0 to 7	Size: Unsigned 8	Unit: N/A
Default:	2

Description: This object is used to request a change in the mode of operation.

Table 7.18 Modes_of_operation values

Value	Definition
0	No mode change
2	vl velocity mode
4	Profile torque mode
6	Homing mode
7	Interpolated position mode

7.3.70x6061 Modes_of_operation_display

This read only object indicates the active mode of operation.

Table 7.19 Modes_of_operation_display

0x6061	Modes_of_operation_display
Access: RO		Range: 0 to 7	Size: Unsigned 8	Unit: N/A
Default:	N/A
Description:	Used to provide the active mode of operation.

Table 7.20 Modes_of_operation_display values

Value	Definition
0	No mode change
2	vl velocity mode
4	Profile torque mode
6	Homing mode
7	Interpolated position mode

7.3.80x6085 Quick_stop_deceleration

This object is used to configure the deceleration rate used to stop the motor when the quick stop function is activated and the quick stop code object (0x605A) is set to 2 or 6. The quick stop deceleration is also used if the fault reaction code object (0x605E) is 2. The value is given in user-defined acceleration units.

Table 7.21 Quick_stop_deceleration

0x6085	Quick_stop_deceleration
Sub-index 0
Access: RW		Range:0 to 0xFFFFFFFF	Size: Unsigned 32	Unit: N/A
Default:	2
Description:	Quick stop function for the positioning related modes.

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SM-EtherCAT User Guide	35
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