Yassar Yaqub, 28, from Huddersfield, was shot by an officer in an operation near junction 24 on 2 January.
Moshin Amin, 30, Broomer Street, Dewsbury, denied possessing a handgun, a silencer and ammunition with intent to endanger life at Leeds Crown Court.
A provisional trial date was set for 4 December and Mr Amin was bailed until 27 June.

Georgina Edmonds, 77, was found dead after being tortured at her home near Eastleigh in Hampshire in 2008.
Matthew Hamlen, of nearby Bishopstoke, told the court he was "not an expert" but said if DNA found on the blouse was his "it didn't get there at the time".
Mr Hamlen, 36, denies murder in the trial at Winchester Crown Court.
Prosecutors claim DNA found on Mrs Edmonds's clothing and on the rolling pin was that of Mr Hamlen.
He was asked: "The matching results are approximately 26 million-times more likely if the DNA has originated from you, than if it is from someone unrelated to you - how did it get there?"
Mr Hamlen replied: "I know I didn't do this, I could not do something like this.
"As far as the DNA goes, I'm not an expert. All I can tell you is, it didn't get there at the time, if it is mine."
The jury was previously shown CCTV footage of a man in a high-visibility jacket attempting to withdraw money with Mrs Edmonds's debit card on the day she was killed.
When asked if it was him in the images, Mr Hamlen replied: "No."
During cross-examination, the defendant was also asked about his relationship with his partner at the time of the killing.
He admitted it had not been good, that his partner had been violent, and he told police in an interview that during one incident he hit her around the face with an ironing board "a few times".
The 36-year-old is on trial for murder for a second time after being acquitted of the same crime in 2012.
The trial continues.

The Glasgow Kelvin MSP Sandra White is proposing legislation which would also make it illegal for vehicles to double park.
Her bill won unanimous support, but is unlikely to complete its passage through Parliament before the election.
The SNP government has pledged to legislate to tackle irresponsible parking if it returns to power after the May poll.
The Footway Parking and Double Parking (Scotland) Bill would make it illegal to park on pavements and dropped kerbs, and restrict double parking on roads.
It gained broad support from the public during consultation.
When Ms White's bill was originally introduced to the Scottish Parliament in May last year it was unclear whether Holyrood or Westminster has the power to legislate.
The powers have now been agreed as part of the package of further powers included in the Scotland Bill.
Ms White said she was "delighted" the bill had passed the first stage of the parliamentary process.
She added: "Reckless parking can make life extraordinarily difficult for those with mobility or sight issues as well as many other pedestrians. It's right that we make it clear that bad parking is unacceptable.
"After raising this issue for several years I am glad that we now have the power to act."
A man driving a car in which his passenger was shot dead by police on the M62 has appeared in court.
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A man accused of beating a pensioner to death with a marble rolling pin has cast doubt over the reliability of DNA evidence found on the victim's blouse.
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MSPs have voted in principle to make it an offence to park on pavements.