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