Selection of the operation mode

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

If you want to operate the EL7411 with Drive Motion Control, select the operation mode "Drive Motion Control (DMC)". See chapter Commissioning with Drive Motion Control.

Otherwise, select the operation mode according to the desired controlled variable:

Controlled variable

Operation mode

Position

CSP 1) (factory setting)

(Cyclic Synchronous Position)

Velocity

CSV

(Cyclic Synchronous Velocity)

Torque

CST

(Cyclic Synchronous Torque)

Torque and commutation angle

CSTCA

(Cyclic Synchronous Torque with Commutation Angle)

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

Proceed as follows to set the selected operation mode:

1. Click the "CoE - Online" tab.
2. Set the operation mode in parameter 7010:03hex "Modes of operation".
Selection of the operation mode 1:
3. Click the "Process Data" tab.
4. Click "Predefined PDO Assignment".
Selection of the operation mode 2:
5. Select the correct entry according to the following table:

Operation mode

"Predefined PDO Assignment"

CSP

"Position"

CSV

"Velocity"

CST

"Torque"

CSTCA

"Torque" 1)

1) Additional process data need to be activated for the CSTCA operation mode. See chapter CSTCA (torque control with commutation angle):

Further Information