6502h, 6D02h Supported drive modes - AxisX

This object describes the CANopen operating modes supported by each axis. The AKD2G returns 0xAD for Cyclic Synchronous Position (CSP), Homing Mode (HM), Torque Mode (TQ), Profile Velocity (PV) and Profile Position (PP) modes.

Bit	Description
31-10	Reserved
9	Cyclic Synchronous Torque (Not supported)
8	Cyclic Synchronous Velocity (Not supported)
7	CSP
6	Interpolated Position (Not supported)
5	HM
4	Reserved
3	TQ
2	PV
1	Velocity Mode (Not supported)
0	PP

 

Axis 1

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Supported drive modes - Axis 1	6502h	0	Unsigned32	-	-	Read only	No	All

Axis 2

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Supported drive modes - Axis 2	6D02h	0	Unsigned32	-	-	Read only	No	All