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Yes Leo, some of the drives doesn't support all the motion control modes. I am not well aware of Canopen protocol, But I am working on Ethercat protocol which is based on Canopen. Based on that knowledge I can suggest you that, using SDO communication you can set the drive to Profile Position/Velocity mode after that you need to use PDOs to send cyclic velocity or position values to update to the slave from master controller. But, these modes directly can't create any motion to your hardware for that you have to keep track on Status word and send appropriate Control word and then position/velocity update. If you can mention which motion control drive you are using I can suggest you which algorithm you have to follow?
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