Rtelligent ECT Series - Page 33

ECT Series User Manual
31
2.3.25 0x6502 Operation mode supported
This object describes the operation mode supported by the driver.
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x6052
Supported Drive Modes
R
UDINT
0x000000A5(165)
---
The bits are defined as follows:
Bit
Description
0
PP：Profile Position Mode
1
VI：Velocity Mode
2
PV：Profile Velocity Mode
3
TQ：Torque Profile Mode
4
reserved
5
HM：Homing Mode
6
IP：Interpolated Position Mode
7
CSP：Cyclic Sync Position Mode
8
CSV：Cyclic Sync Velocity Mode
9
Cyclic Sync Torque Mode
10-31
reserved
Bit value = 0: Not support
Bit value = 1: Support
EC series stepper drivers support PP, PV, HM, CSP modes.
2.4 CIA402 Motion control
2.4.1 Operation mode
ECT series EtherCAT stepper driver supports the following operation modes (0x6060):
Profile Position (PP)
Profile Velocity (PV)
Cyclic Synchronous Position (CSP)
Homing (HM)