User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw mappable UNSIGNED32 0
Table 197: Entry Description (60FD
h
)
5.1.9 Object 6502
h
: Supported Drive Modes
This object provides information on the supported drive modes. A bit that is set means that the mode is
supported, a bit that is not set means that the mode is not supported by the drive.
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 198: Value Definition (6502
h
)
Object Description
Index Name Object Type Data Type
6502
h
Supported drive modes Variable UNSIGNED32
Table 199: Object Description (6502
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no UNSIGNED32 Depends on supported modes.
Table 200: Entry Description (6502
h
)
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