Selecting and switching the Modes¶

Selection of these modes is done by setting the object 0x6060 to the corresponding value as defined in the CiA 402 standard.

The modes are called by setting the object 0x6060 as follows:

Value for 0x6060	Control Mode
+1	Profile position mode
+3	Profile velocity mode
+4	Torque profile mode
+6	Homing mode
+8	Cyclic Syncronous Position Mode
+9	Cyclic Syncronous Velocity Mode
+10	Cyclic Syncronous Torque Mode

Dynamic Op-Mode switching¶

The modes can be switched while in state Operation enabled.

Attention

Ensure that all required PDO data is available for the mode you are switching to.

Use this object to select the desired Mode