What operational modes do CiA 402 drives support?

CiA 402 drives typically support several operational modes, each designed for specific types of motor control.

You can set the mode using the 6060h (Modes of Operation) object in the drive’s object dictionary - but if you want to read back the currently active mode, you MUST use the 6061h (Modes of Operation Display) object.

Here are some common operational modes supported by CiA 402 drives - but note that not ALL drives support ALL operational modes, so always check the documentation for your specific drive model:

• 0x01 - Profile Position Mode (PP)
• 0x03 - Profile Velocity Mode (PV)
• 0x04 - Profile Torque Mode (PT)
• 0x06 - Homing Mode (HM)
• 0x08 - Cyclic Synchronous Position Mode (CSP)
• 0x09 - Cyclic Synchronous Velocity Mode (CSV)
• 0x0A - Cyclic Synchronous Torque Mode (CST)

Note that there are often additional, manufacturer-specific modes.

Sources:

• Synapticon SOMANET Circulo documentation
• SEW EuroDrive documentation and another SEW EuroDrive docs page