The standard PDOs used on Trio EtherCAT masters are single mode.  ie either Position (CSP), Speed (CSP) or Torque (CST).

Did you know that many drives support the Mode of Operation CoE Object in the Rx PDO?  If the drive supports it, then a multi-mode PDO can be set up with an EC_EXTEND by putting the following Objects in the RxPDO.

Control Word

Target Position

Target Velocity

Target Torque

Target Control Mode

Then when the ATYPE is changed between 65, 66 and 67, the Mode of Operation is automatically changed to 8, 9 or 10 to suit the modes CSP, CSV and CST.  The correct target parameter becomes the command value linked to DAC_OUT.