Elmo DSP 402 User Manual

6060h: Modes of operation 
6061h: Modes of operation display 

The drive behavior depends on the activated modes of operation. Different modes can be 
implemented, although not in parallel. Therefore, the user must activate the required 
function by selecting a mode of operation. The modes-of-operation variables are 
initialized at reset to “no mode” (value -1). Modes can be set in any state, including 
OPERATION ENABLE. At OPERATION ENABLE, the motor stands still until an explicit 
motion command is received via a control word. Bit 10 in the statusword (Target reached) is 
set. 

When switching modes in OPERATION ENABLE, the transition proceeds as if bit 8 
(Halt) in the controlword has been set. The motion first stops according to object 605Dh. 
The mode actually changes only after a complete stop, according to the definition of 
target reached. The actual mode is reflected via object 6061h. 

The statusword contains bits whose meaning depends on the mode of operation. When 
switching modes, the “mode dependent” bits in the controlword and statusword must be 
monitored. 

Object 0x6060: Modes of operation  

 

Object description: 

Name 

Modes of operation 

Object code 

VAR 

Data type 

INTEGER8 

Category Mandatory 

 

Entry description: 

Access Read/write 

PDO mapping 

No 

Value range 

INTEGER8 

Default value 

-1 

 

CANopen DSP 402 Implementation Guide 

MAN-CAN402IG (Ver. 1.2) 

 

 

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