S-0-0032 Primary operation mode
The parameter selects the main operating 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.
The position-controlled operating modes can only be selected as main mode without secondary mode.
Bit pattern:
|
Value |
Description |
|---|---|
|
0 |
no mode of operation no mode of operation |
|
1 |
torque / force 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 / force 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 |
 | For further information please look into the involved IDN: |