What are you using to talk to the Jaguar through the 2CAN? Are you using a custom program? What do you mean by "only voltage mode is working"? Please describe your steps that lead you to the non-working modes.
I believe Cross the Road Electronics has an example application on their
2CAN website. My understanding is it only handles voltage mode. I imagine that it would be possible to modify this example to run different Jaguar modes.
Perhaps someone from Cross the Road can offer their advice.
-David