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 |
|
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)
- Value = "1": Current reduction activated in open loop
- 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)