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 |