18.EtherCAT COMMUNICATION
(8) Supported drive modes (6502h)
The supported control mode is returned. The description is as follows.
Profile position mode (pp)
Profile velocity mode (pv)
Interpolated position mode (ip)
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Cyclic synchronous torque mode with communication angle (cstca)
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.