|
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 |
… |
10 |
9 |
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.