Delta ASDA-A3 Series User Manual page 1140

ASDA-A3
Object 6502h: Supported drive modes
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
This object is read-only and provides the operation modes supported by Delta servo drives in
EtherCAT mode.
31
Bit
15
Bit
Bit 10 - Bit 31
6502h
Supported drive modes
VAR
UNSIGNED32
RO
Yes
UNSIGNED32
03ADh
30 29 28 27 26
12
14 13 11 10
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
25 24 23 22 21
9 8 7 6 5
Function
Profile Position mode
Reserved
Profile Velocity mode
Profile Torque mode
Reserved
Homing mode
Reserved
Cyclic Synchronous Position mode
Cyclic Synchronous Velocity mode
Cyclic Synchronous Torque mode
Reserved
EtherCAT Mode
20 19 18 17 16
4
3 2 1 0
13
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