Selection of the controller operation mode
By selecting the operation mode, you determine the controlled variable and the controller structure.
The factory setting is the operation mode CSP.
Select the operation mode according to the desired controlled variable:
Controlled variable | Operation mode |
|---|---|
Position | "Cyclic synchronous position mode" CSP 1) |
Velocity | "Cyclic synchronous velocity mode" CSV |
Torque | "Cyclic synchronous torque mode" CST |
Torque and commutation angle | "Cyclic synchronous torque mode with commutation angle" CSTCA |
1) You can also control the position with the CSV operation mode. See chapter CSV. The control performance is better with CSP, however.
 | Cycle time For CSP, CSV, CST, and CSTCA, the cycle time must be n * 62.5 µs (with n = 2 to 160), which is 125 µs to 10 ms. |
Setting the operation mode
This section describes how to set the operation mode in the TwinCAT 3 Drive Manager 2.
- 1. In the Solution Explorer, expand the tree under the "Drive Manager 2 Project".
- 2. Double click on Ch A.
- The Drive Manager 2 opens.
- 3. Select the menu "Tune drive".
- 4. Set the operation mode in the drop-down menu "Modes of operation".
- Changes are displayed in the controller structure. E.g. the position controller is disconnected when changing from CSP to CSV.