SMC Networks LECSN-T Series - Page 630

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18．EtherCAT COMMUNICATION
(8) Supported drive modes (6502h)
Index
Sub
Name
Data Type
Access
PDO Mapping
6502h
0
Supported drive modes
UNSIGNED32
ro
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
6502h
0
Refer to the text.
Refer to the text.
Impossible
The supported control mode is returned. The description is as follows.
Bit
Description
Defined value
0
Profile position mode (pp)
1: Supported
1
Velocity mode (vl)
0
2
Profile velocity mode (pv)
1: Supported
3
Profile torque mode (tq)
1: Supported
4
Reserved
0
5
Homing mode (hm)
1: Supported
6
Interpolated position mode (ip)
0
7
Cyclic synchronous position mode (csp)
1: Supported
8
Cyclic synchronous velocity mode (csv)
1: Supported
9
Cyclic synchronous torque mode (cst)
1: Supported
10
Cyclic synchronous torque mode with communication angle (cstca)
0
11 to 15
Reserved
0
16
Jog mode (jg)
1: Supported
17
Point table mode (pt)
1: Supported
18
Reserved
0
19
Indexer mode (idx)
1: Supported
20 to 31
Reserved
0
The fixed value is returned regardless of the setting of [Pr. PA01]. However, the usable control modes
are limited depending on the setting of [Pr. PA01]. Refer to section 5.4.1 for details.