The CANopen communication functions supported by the FX5-CCLGN-MS conform to the CiA402 CANopen profile, and can control devices that support the CiA402 device profile.
Among the CiA402 control modes, the FX5-CCLGN-MS supports profile position mode (pp), profile speed mode (pv), profile torque mode (pt), and homing mode (hm).

 

See the manual below.
MELSEC iQ-F FX5 CC-Link IE TSN Master/Local Module User's Manual