Selection of the operation mode

By selecting the operation mode, you determine the controlled variable and the controller structure.

Controlled variable	Operation mode via CoE-Online Index 0x7010:03 "Modes of operation"	Predefined PDO via process data
Position ¹⁾	CSP(Cyclic Synchronous Position) (factory setting)	Predefined PDO "Position
Velocity	CSV (Cyclic Synchronous Velocity)	Predefined PDO "Velocity":
Torque	CST (Cyclic Synchronous Torque)	Predefined PDO "Torque":
Torque and commutation angle	CSTCA (Cyclic Synchronous Torque with Commutation Angle)	Predefined PDO "Torque" + PDO 0x1603 "DRV Commutation angle"
Drive Motion Control	DMC (Drive Motion Control)	64-bit control: Predefined PDO "Drive motion control (For TC3 DriveMotionControl Lib)" 32-bit control Predefined PDO "Drive motion control (32 bit)"
¹⁾ You can also control the position with the CSV operation mode. See chapter CSV (velocity control). The control performance is better with CSP, however.

Setting the operation mode via the CoE directory

Proceed as follows to set the selected operation mode:

Notice

Risk of damage to the device!

We strongly advise not to change settings in the CoE objects while the axis is active, since this could impair the control.

1. Click on the "CoE - Online" tab.

2. Set the operation mode in parameter 0x7010:03 "Modes of operation".

Notice

Changes in the CoE directory (CAN over EtherCAT), program access

When using/manipulating the CoE parameters observe the general CoE notes in chapter "CoE interface" of the EtherCAT system documentation:

Keep a startup list if components have to be replaced,
Distinction between online/offline dictionary,
Existence of current XML description (download from the Beckhoff website),
"CoE-Reload" for resetting the changes
Program access during operation via PLC (see TwinCAT3 | PLC Library: Tc2_EtherCAT and Example program R/W CoE)

1. Click the "Process Data" tab.

2. Click "Predefined PDO Assignment".

3. Select the correct entry according to the following table.

The selected process data are displayed in the tree structure.

Operation mode	"Predefined PDO Assignment"
Operation mode	Name	Inputs (SM3)	Outputs (SM2)
CSP	"Position":	0x1A00 "FB Position" 0x1A01 "DRV Statusword" 0x1A06 "DRV Following error actual value"	0x1600 "DRV Controlword" 0x1606 "DRV Target position"
CSV	"Velocity":	0x1A00 "FB Position" 0x1A01 "DRV Statusword"	0x1600 "DRV Controlword" 0x1601 "DRV Target velocity"
CST	"Torque":	0x1A00 "FB Position" 0x1A01 "DRV Statusword"	0x1600 "DRV Controlword" 0x1602 "DRV Target torque"
CSTCA	"Torque" + PDO 0x1603"DRV Commutation angle"
DMC 64-bit control	"Drive motion control (For TC3 DrivemMotionControl)"	0x1A40 "DMC Inputs"	0x1640 "DMC Outputs"
DMC 32-bit control	"Drive motion control (32-bit)"	0x1A41 "DMC Inputs 32 Bit"	0x1641 "DMC Outputs 32 Bit"

Further Information