Modes of Operation

The mode of operation selects which controller runs inside the drive and therefore which target objects have any effect. Write it to Modes of Operation 0x6060 and read it back from Modes of Operation Display 0x6061.

The underlying controllers are the same ones the MD Protocol exposes. For the control theory, tuning advice and block diagrams, see Motion Control. This page covers only how to reach them over CANopen.

Supported modes

Value	Mode	Controller	Setpoint objects
-3	Impedance	Impedance PD	0x607A, 0x60FF, 0x6071
-2	Service	none, motor idle	none
0	Idle	none, motor idle	none
1	Profile Position	trajectory into Velocity PID	0x607A, 0x60FF
3	Profile Velocity	trajectory into Velocity PID	0x60FF
8	Cyclic Sync Position	Position PID cascade	0x607A
9	Cyclic Sync Velocity	Velocity PID	0x60FF

Supported Drive Modes 0x6502 reads 0x00000185, which advertises Profile Position, Profile Velocity, Cyclic Synchronous Position and Cyclic Synchronous Velocity. The two manufacturer specific modes, Impedance and Service, are negative values and are not represented in that bit field.

Writing a value that is not in the table above aborts with 0x06090030, value range exceeded, and leaves the current mode unchanged. Read 0x6061 back to confirm the mode you asked for is the mode you got.

Note

Reading 0x6060 returns the mode the drive is currently running, not the last value written. It gives the same answer as 0x6061.

Profile Position, mode 1

The drive runs an internal trajectory generator from the current position to Target Position 0x607A and feeds the result to the velocity controller.

Object	Role
0x607A	Destination
0x60FF or 0x6081	Cruise velocity of the profile
0x6083	Acceleration
0x6084	Deceleration
0x2011	Velocity PID gains

Important

Profile Velocity 0x6081 and Target Velocity 0x60FF share the same internal register. Writing either object changes both, and 0x6081 reads back the magnitude of 0x60FF. Profile Position uses that magnitude as its cruise velocity, so a move with the shared value left at zero will not move. In Profile Velocity mode, writing 0x6081 changes the target velocity as well.

In Operation enabled, a new Target Position is taken over only on a set-point handshake through the controlword:

1. Write the destination to 0x607A. The drive stores it but keeps moving to the previous target.

2. Set controlword bit 4, new set-point, for example 0x001F. On the rising edge the drive takes the stored 0x607A and sets statusword bit 12, set-point acknowledge.

3. Clear controlword bit 4, for example 0x000F. The drive clears statusword bit 12 and is ready for the next set-point.

With controlword bit 6 set together with bit 4, for example 0x005F, 0x607A is relative and is added to the current target. A new set-point always acts at once, as if bit 5, change set immediately, were set; set-points are not buffered. Outside Operation enabled, a write to 0x607A is applied directly, so the master can preset the position held on enable.

Completion is reported through statusword bit 10, target reached, and bit 15 of Quick Status 0x2022:1, both using Position Window 0x6067 as the tolerance.

Profile Velocity, mode 3

The trajectory generator ramps from the current velocity to Target Velocity 0x60FF, respecting 0x6083 and 0x6084, and feeds the velocity controller. Position targets are ignored.

Completion is reported through statusword bit 10, target reached, and bit 15 of Quick Status 0x2022:1, both using Velocity Window 0x606D. Statusword bit 12, speed zero, is set while the speed is within 0x606D of zero.

Controlword bit 8, halt, decelerates the drive to standstill using 0x6084. Clearing it resumes the previous target velocity. A target velocity written while halted is applied on release.

Cyclic Synchronous Position, mode 8

Target Position 0x607A is applied directly to a cascaded position and velocity controller with no trajectory generation. The master is responsible for feeding a smooth stream of positions, typically one per SYNC through a receive PDO.

Object	Role
0x607A	Position setpoint
0x2010	Position PID gains
0x2011	Velocity PID gains
0x6080	Max Motor Speed, clamps the position loop output

Cyclic Synchronous Velocity, mode 9

Target Velocity 0x60FF is applied directly to the velocity controller, again with no trajectory generation. Only the Velocity PID gains in 0x2011 apply.

Impedance, mode -3

A manufacturer specific mode that makes the drive behave like a spring and damper around a moving setpoint, with a feed-forward torque. This is the mode to use for compliant and force controlled applications.

Object	Role
0x607A	Equilibrium position
0x60FF	Equilibrium velocity
0x6071	Feed-forward torque
0x2012:1	Stiffness, Kp
0x2012:2	Damping, Kd

Service and Idle

Both leave the motor un-driven. Service, mode -2, is what the drive reports while it is running an internal routine such as a test or an open loop procedure.

Note

Unlike the legacy CANopen firmware, calibration does not require Service mode. The routines in 0x2023 run from whatever mode the drive is in. See Setting Up a New Motor.

Changing mode safely

Switch modes with the drive in Switched on rather than Operation enabled, or write a setpoint that matches the current state before enabling. Changing mode while the drive is following a setpoint hands control to a different controller with a target that may be stale, which shows up as a jump on the output shaft.