0x6502 - Supported drive modes
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.