S-0-0033 Secondary operation mode 1

The parameter specifies the first secondary mode.

Attributes

Name

Value

Datatype

binary

Data length in bit

16

Decimal point

0

Min value

-

Default

2

Max value

-

Unit

-

Changeable in EtherCAT state

PreOp

Cyclic transfer

No

Device parameter

No

Related to interface revision

from Rev. 210: additional operating modes “using dynamic MDT”

The operating modes (main mode or secondary modes 1 to 3) are activated via bits 9 and 8 in the DriveControlWord of the MDT (S-0-0134). The DriveStatusWord (S-0-0135) of the drive telegram (AT) indicates the activated mode via bits 9 and 8.

Bit pattern:

Value

Description

0

no mode of operation

no mode of operation

1

torque control

Torque control

2

velo control

Velocity control

3

Pos ctrl feedback 1

Position control, feedback system 1

4

Pos ctrl feedback 2

Position control, feedback system 2

11

Pos ctrl feedback 1 lag less

Position control lag less, feedback system 1

12

Pos ctrl feedback 2 lag less

Position control lag less, feedback system 2

32769

torque control using dynamic MDT

Torque control using dynamic MDT

32770

velo control using dynamic MDT

Velocity control using dynamic MDT

32771

Pos ctrl feedback 1 using dynamic MDT

Position control using dynamic MDT, feedback system 1

32772

Pos ctrl feedback 2 using dynamic MDT

Position control using dynamic MDT, feedback system 2

32779

Pos ctrl feedback 1 lag less using dynamic MDT

Position control lag less using dynamic MDT, feedback system 1

32780

Pos ctrl feedback 2 lag less using dynamic MDT

Position control lag less using dynamic MDT, feedback system 2

S-0-0033 Secondary operation mode 1 1:

For further information please look into the involved IDN:

S-0-0032, S-0-0034, S-0-0035, S-0-0134, S-0-0135