OPMODE

OPMODE=0

Velocity Control Digital

Digital (rotational) velocity
There are different possibilities to generate a velocity setpoint:
- RS232 Interface ("J" command)
- Fieldbus Interface (PROFIBUS, CANopen, SERCOS, DPR Slot boards)
- INxMODE 35 (VCT entry started by I/O)

OPMODE=1

Velocity Control Analog

Analog (rotational) velocity
The velocity setpoint is generated by the analog inputs SW1/SW2. The configuration is done with ANCNFG and INxMODE=8.

OPMODE=2

Current Control Digital

Digital torque
The current setpoint can be generated by:
- RS232 Interface ("T" command)
- Fieldbus Interface (PROFIBUS, CANopen, SERCOS, DPR Slot boards)

OPMODE=3

Current Control Analog

Analog torque
The current setpoint is generated by the analog inputs SW1/SW2. The configuration is done with ANCNFG and INxMODE=8.

OPMODE=4

Electronic Gearing (Master/Slave)

Position: electr. gearing
The target position is generated by an extrenal encoder. The type of the activated interface is selected by GEARMODE.
If a SinCos type is selectzed by FBTYPE the FPGAhas to be set to 3 (FW >4.56)

OPMODE=5

External Trajectory

Position: ext. position nodes
The target position is generated by fieldbus (PROFIBUS, CANopen or DRP Slot board). The cycle time for writing the new position can be selected with the command PTBASE in 250µs steps. The position controller brings the actual position to the new target postion in the selected time.
When using ANCNFG=8, the target position is given by the analog input SW1. The analog voltage is read every 250µs and is used as target position for the position controller. The scaling of the anlog input voltage is done with SRND and ERND. Before this function is active, a homing move has to started.

OPMODE=6

Sercos Position

SERCOS position control

OPMODE=7

Reserved

OPMODE=8

Motion Tasks

Position: motion blocks
This setting allows the swtarting of motion tasks and also the homing moves.