6502h, 6D02h Supported drive modes - Axis #
This object describes the CANopen operating modes supported by each axis. The AKD2G returns 0xAD for Cyclic Synchronous Position (CSP), Mode (HM), 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 |
| Supported drive modes - Axis 1 |
6502h |
0h |
Unsigned32 |
- |
- |
Read only |
No |
Axis 2
| Parameter |
Index |
Sub-Index |
Data Type |
Float Scale |
Units |
Access |
PDO Mappable |
| Supported drive modes - Axis 2 |
6D02h |
0h |
Unsigned32 |
- |
- |
Read only |
No |
The Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position Mode (HM), Torque
