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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 |