Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 193

7. OBJECT DICTIONARY
(8) Supported drive modes (6502h)
Index Sub
6502h 0
Index Sub Default
6502h 0 Refer to the text.
The supported control mode is returned. The description is as follows.
Bit
0 Profile position mode (pp)
1 Velocity mode (vl)
2 Profile velocity mode (pv)
3 Profile 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)
10 Cyclic synchronous torque mode with communication angle (cstca)
11 to 15 Reserved
16 Jog mode (jg) (Note)
17 Point table mode (pt) (Note)
18 Reserved
19 Indexer mode (idx) (Note)
20 to 31 Reserved
Note. This is available with servo amplifiers with software version B2 or later.
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.
Name
Supported drive modes
Range
Refer to the text.
Description
7 - 54
Data Type Access
UNSIGNED32 ro
Units EEP-ROM
Impossible
PDO Mapping
Possible
Parameter
Defined value
1: Supported
0
1: Supported
1: Supported
0
1: Supported
0
1: Supported
1: Supported
1: Supported
0
0
1: Supported
1: Supported
0
1: Supported
0