3202h Motor Drive Submode Select Function Controls the controller mode, such as the changeover between closed loop / open loop and whether Velocity Mode is simulated via the S-controller or functions with a real V-controller in closed loop. Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: drive Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel". Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement". Description CL/OL Changeover between open loop and closed loop (see chapter Control modes) Value = "0": open loop Value = "1": closed loop Toggling is not possible in the Operation enabled state. VoS Value = "1": Simulate V-controller with an S-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. CurRed (Current Reduction) Current reduction in open loop: this remains activated since the version FIR-v2213, as long as the objects 2036h and 2037h are not both set to "0". AutoAl ( auto alignment) For the case that operation in closed loop is required (bit 0 in 3202h is set). Value = "1": The auto alignment process is activated; immediately after switching on, an alignment is determined in open loop and a switch is immediately made to closed loop mode without the encoder index having been seen. The rotor is moved slightly during this process. Value = "0": No auto alignment, the motor operates in open loop until the encoder index is seen (maximum one revolution of the motor shaft). If the incremental encoder used for commutation does not have an index (bit 0 in 33A0h is "0"), an auto alignment is always determined. Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value = "1": M-controller is active, otherwise a V-controller is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; 3210h:3 and 3210h:4 have no effect on the control. BLDC Value = "1": Motor type "BLDC" (brushless DC motor) Slow ( slow speed) Value = "1": The slow speed mode is activated ( closed loop must already be activated)
3202h Motor Drive Submode Select Function Controls the controller mode, such as the changeover between closed loop / open loop and whether Velocity Mode is simulated via the S-controller or functions with a real V-controller in closed loop. Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: drive Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel". Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement". Description CL/OL Changeover between open loop and closed loop (see chapter Control modes) Value = "0": open loop Value = "1": closed loop Toggling is not possible in the Operation enabled state. VoS Value = "1": Simulate V-controller with an S-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. CurRed (Current Reduction) Current reduction in open loop: this remains activated since the version FIR-v2213, as long as the objects 2036h and 2037h are not both set to "0". AutoAl ( auto alignment) For the case that operation in closed loop is required (bit 0 in 3202h is set). Value = "1": The auto alignment process is activated; immediately after switching on, an alignment is determined in open loop and a switch is immediately made to closed loop mode without the encoder index having been seen. The rotor is moved slightly during this process. Value = "0": No auto alignment, the motor operates in open loop until the encoder index is seen (maximum one revolution of the motor shaft). If the incremental encoder used for commutation does not have an index (bit 0 in 33A0h is "0"), an auto alignment is always determined. Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value = "1": M-controller is active, otherwise a V-controller is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; 3210h:3 and 3210h:4 have no effect on the control. BLDC Value = "1": Motor type "BLDC" (brushless DC motor) Slow ( slow speed) Value = "1": The slow speed mode is activated ( closed loop must already be activated)
Function Controls the controller mode, such as the changeover between closed loop / open loop and whether Velocity Mode is simulated via the S-controller or functions with a real V-controller in closed loop.
Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: drive Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel". Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement".
Description CL/OL Changeover between open loop and closed loop (see chapter Control modes) Value = "0": open loop Value = "1": closed loop Toggling is not possible in the Operation enabled state. VoS Value = "1": Simulate V-controller with an S-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. CurRed (Current Reduction) Current reduction in open loop: this remains activated since the version FIR-v2213, as long as the objects 2036h and 2037h are not both set to "0". AutoAl ( auto alignment) For the case that operation in closed loop is required (bit 0 in 3202h is set). Value = "1": The auto alignment process is activated; immediately after switching on, an alignment is determined in open loop and a switch is immediately made to closed loop mode without the encoder index having been seen. The rotor is moved slightly during this process. Value = "0": No auto alignment, the motor operates in open loop until the encoder index is seen (maximum one revolution of the motor shaft). If the incremental encoder used for commutation does not have an index (bit 0 in 33A0h is "0"), an auto alignment is always determined. Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value = "1": M-controller is active, otherwise a V-controller is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; 3210h:3 and 3210h:4 have no effect on the control. BLDC Value = "1": Motor type "BLDC" (brushless DC motor) Slow ( slow speed) Value = "1": The slow speed mode is activated ( closed loop must already be activated)
