Appendices
A-76
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• This object indicates the supported operation modes.
Bit Descriptions
• Default setting
The table below describes the default setting for each unit version.
6502 hex
Supported drive modes
Range − Unit − Default Refer to the
description.
Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Bit Supported mode Definition
0 pp (Profile position mode) Refer to the default setting.
1 vl (Velocity mode) 0: Not supported
2 pv (Profile velocity mode) 0: Not supported
3 tq (Profile torque mode) 0: Not supported
4Reserved 0
5 hm (Homing mode) 1: Supported
6 ip (Interpolated position mode) 0: Not supported
7 csp (Cyclic synchronous position mode) 1: Supported
8 csv (Cyclic synchronous velocity mode) 1: Supported
9 cst (Cyclic synchronous torque mode) 1: Supported
10 to 31 Reserved 0
Unit version Default setting Description
Ver. 2.0 000003A0 hex Bit 0 is "0: Not supported."
Profile position mode (pp) cannot be used.
Ver. 2.1 000003A1 hex Bit 0 is "1: Supported."
Profile position mode (pp) can be used.
All
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