MCV_SetDriveMode

Different operating modes can be set with the MCV_SetDriveMode FB. For the available drive modes see the table below.

Block diagram

Parameters of the FB

	VAR_IN_OUT
	Axis	AXIS_REF	Axis reference.
VAR_INPUT
	Execute	BOOL	Change drive mode at rising edge.
	DriveMode	INT	Drive mode to be set (see above).
VAR_OUTPUT
	ActiveDriveMode	BOOL	The FB MCV_SetDriveMode is active.
	ActualDriveMode	INT	Currently supported drive modes:
			(0)	position control
			(1)	speed control
			(2)	torque control
			(3)	position control with torque pilot control
	Error	BOOL	Indicates if an error has occurred.
	ErrorID	WORD	Error identification.

Behavior of the FB

Following error monitoring must be deactivated to ensure that no following error will occur during torque control (see MCV_PosLagMonitor FB).
Use of an inadmissible mode sets the "Error output to TRUE. ErrorID is assigned the error code 44049 (ERR_PO_AX_INVALID_DRIVE_MODE).
The mode change to "TorqueControl takes place only when the axis is in the Standstill or Continuous Motion or Discrete Motion or Synchronized Motion state. If this is not the case, the "Error output becomes FALSE and ErrorID = 44050 (ERR_PO_AX_TNA_TORQUE_CTRL_ACTIVE).