Support More PDO Operating Modes #3
Description
The CiA 402 specification outlines 6 operation modes:
Profile Position Mode (PPM)
Profile Velocity Mode (PVM)
Homing Mode (HMM)
Cyclic Synchronous Position Mode (CSP)
Cyclic Synchronous Velocity Mode (CSV)
Cyclic Synchronous Torque Mode (CST)
Only two modes are currently supported, PPM and HMM. In a full scale implementation, more, but maybe not all, of these modes should be included. Another thing to consider is that some modes function a little bit differently depending on the control word. For example, PPM can both go to a position and then stop, or go to a position and then continue to try and drive to that position indefinitely.