User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
62 / 109
Value Definition
Bit Mode
0 Profile position mode (pp)
1 Velocity mode (vl)
2 Profile velocity mode (pv)
3 Torque mode (tq)
4 Reserved
5 Homing mode (hm)
6 Interpolated position mode (ip)
7 Cyclic synchronous position mode (csp)
8 Cyclic synchronous velocity mode (csv)
9 Cyclic synchronous torque mode (cst)
Table 180: Value Definition (6502
h
)
Object Description
Index Name Object Type Data Type
6502
h
Supported drive modes Variable UNSIGNED32
Table 181: Object Description (6502
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no UNSIGNED32 Depends on supported modes.
Table 182: Entry Description (6502
h
)
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com