Operation mode of an axis (P-AXIS-00320)
This parameter determines the operation mode, which is used for an axis.
Variable name | Type | Permissible range | Axis type | Dimension |
operation_mode | ISG_CHAR | See strings at following table | T, R | ---- |
String | Significance |
DRIVE_DEFAULT | Default setting for all drive types. The used operation mode ( position control in the drive, position control in the numerical control, velocity control, etc. ) is determined automatically. It depends e.g. on the drive type P-AXIS-00020 and on the configured telegram. |
DRIVE_POSITION_CONTROL | In this operation mode the position or velocity control is performed in the drive. |
CNC_POSITION_CONTROL | The position control is performed in the CNC. For this operation mode therefore additionally the path resolution of the measuring systemP-AXIS-00234/P-AXIS-00233, the proportional gain factorkvof the position control loopP-AXIS-00099, and the scaling of the command valueP-AXIS-00129/P-AXIS-00128must be parameterized. |
 | The following operation modes are available from Version 263. |
OPEN_POSITION_LOOP_MODE
Operation without position control (open loop mode). The command velocity calculated by the interpolator is output.
This operation mode is possible only for spindles.
The actual velocity value for velocity monitoring is choosen as follows:
If an actual position is configured, it is used for velocity monitoring.
If no actual position but an actual revolution is configured, this is used for velocity monitoring.
If neither an actual position nor an actual revolution is configured the command velocity is used for velocity monitoring (sensorless spindle)
Scaling of the command velocity output to the spindle is set up with parametersP-AXIS-00205,P-AXIS-00206andP-AXIS-00207.
For PROFIDRIVE-drives parameterP-AXIS-00379has to be used.
OPEN_POSITION_LOOP_POS _FEEDBACK | Operation without position control (open loop mode). The command velocity calculated by the interpolator is output. This operation mode is possible only for spindles. The actual velocity is calculated from the actual position delivered from the spindle. If no actual position is configured an error message is output. Scaling of the command velocity output to the spindle is set up with parametersP-AXIS-00205,P-AXIS-00206andP-AXIS-00207. For PROFIDRIVE-drives parameterP-AXIS-00379 must be used. |
OPEN_POSITION_LOOP_VEL _FEEDBACK | Operation without position control (open loop mode). The command velocity calculated by the interpolator is output. This operation mode is possible only for spindles. The actual velocity is calculated from the actual revolution delivered from the spindle. If no actual revolution is configured an error message is output. Scaling of the command velocity output to the spindle is set up with parametersP-AXIS-00205,P-AXIS-00206andP-AXIS-00207. For PROFIDRIVE-drives parameterP-AXIS-00379has to be used. |
OPEN_POSITION_LOOP_NO _FEEDBACK | Operation without position control (open loop mode). The command velocity calculated by the interpolator is output. This operation mode is possible only for spindles. The actual velocity for velocity monitoring is calculated from the internal command velocity. Scaling of the command velocity output to the spindle is set up with parametersP-AXIS-00205,P-AXIS-00206andP-AXIS-00207. For PROFIDRIVE-drives parameterP-AXIS-00379has to be used. |
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For the position control in the numerical control (Operation mode CNC_POSITION_CONTROL) the active operation mode in the SERCOS drive must be velocity control. Furthermore command velocity and actual position must be configured and transmitted in the cyclic telegram. |
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In the operation mode CNC_POSITON_CONTROL only a NC-controlled homing without zero pulse search can be performed for SERCOS drives. The necessary parameter settings can be taken from [Homing]. |