Can Open Mode of Operation

The supported modes of operation are:

Modes Of Operation 0x6060	Description
1	Profile position mode
6	Homing mode
7	Cyclic synchronous position mode
8	Cyclic synchronous position mode

Profile position mode

In this mode, the motion trajectiory is calculated and generated internally. The standard motion profile is trapezoidal type.

These are the parameters:

Address	Parameter	Unit
0x60C1	Position setpoint	INT32
0x6081	Profile velocity	UINT32
0x6083	Profile acceleration	UINT32
0x6084	Profile deceleration	UINT32

Control word bits 0x6040 - motion function

Bit position	Implemented Function
2	Quick stop
4	Start the move
6	Absolute or relative - (only absolute)
8	Pause/halt

Status word bits - 0x6041

Bit position	Implemented Function
10	target reached
12	setpoint acknowledge
13	following error