8-58
8-3-6-2 Servo Mode
Object 6502h defines all modes can be used in EtherCAT protocol and shows all modes supported by
the slave station. The user can understand modes supported by the servo driver by the following table.
Supported drive modes (6502h) bit Mode Support
0 PP O
1 VI X
2 PV O
3 PT O
4 Reserved
5 HM O
6 IP X
7 (CANopen does not support) CSP O
8 (CANopen does not support) CSV O
9 (CANopen does not support) CST O
10~31
Customer
definition
X
●
Mode Selection
The user can input the setting of Object 6060h to change the operation mode of the servo driver.
Modes of operation (6060h) setting value Servo mode
0x00 NA
0x01 PP
0x03 PV
0x04 PT
0x06 HM
0x07 (not support) IP
0x08 (CANopen does not support) CSP
0x09 (CANopen does not support) CSV
0x0A (CANopen does not support) CST
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