Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x6502

0x00

Supported drive modes

UINT32

CONST

Yes

No

UINT32

0xF03E5

-

Motion controllers can normally support more than one operation mode. This object provides information about the operation modes implemented in the device. 


Data description:

The returned value has the following meaning (each bit represents an operation mode):

Bit number:

31

19

18

17

16

15

109

8

7

6

5

4

3

2

1

0

 Description

Reserved


ca

csc

cm

vm

Reserved

cst

csv

csp

ip

hm

Reserved

tq

pv

vl

pp

Where:

  • pp = Profile Position mode
  • vl = Velocity mode
  • pv = Profile Velocity mode
  • tq = Profile Torque mode
  • hm = Homing mode
  • ip = Interpolated position mode
  • csp = Cyclic sync position mode
  • csv = Cyclic sync velocity mode
  • cst = Cyclic sync torque mode
  • vm= Voltage mode
  • cm= Current mode
  • csc= Cyclic sync current mode
  • ca= Current amplifier mode


A logical '1' represents that the corresponding mode is available.

For further information about the operation modes, see Operation section.