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 PD4-E591L42-E-65-3A: 00000001h PD4-E601L42-E-65-3A: 00000001h PD4-EB59CD-E-65-3A: 00000041h PD4-EB60SD-E-65-3A: 00000041h PD4-E591L42-EB-65-3A: 00000005h PD4-EB59CD-EB-65-3A: 00000045h PxA56S-E-3-xxBG-xxx: 00000001h PxA56S-E-3-xxBN-xxx: 00000001h PxA56S-E-3-xxCA-xxx: 00000001h PxA56S-E-3-xxCD-xxx: 00000001h PxA56S-E-3-xxCN-xxx: 00000001h PxA56S-E-3-xxEG-xxx: 00000001h PxA56S-E-3-xxFC-xxx: 00000001h PxA56S-E-3-xxGA-xxx: 00000001h PxA56S-E-3-xxKE-xxx: 00000001h PxA56S-E-3-xxMS-xxx: 00000001h PxA56L-E-3-xxBG-xxx: 00000001h PxA56L-E-3-xxBN-xxx: 00000001h PxA56L-E-3-xxCA-xxx: 00000001h PxA56L-E-3-xxCD-xxx: 00000001h PxA56L-E-3-xxCN-xxx: 00000001h PxA56L-E-3-xxEG-xxx: 00000001h PxA56L-E-3-xxFC-xxx: 00000001h PxA56L-E-3-xxGA-xxx: 00000001h PxA56L-E-3-xxKE-xxx: 00000001h PxA56L-E-3-xxMS-xxx: 00000001h 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: Since version FIR-v2213, this remains activated provided that objects 2036h and 2037h are not both set to "0". 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 PD4-E591L42-E-65-3A: 00000001h PD4-E601L42-E-65-3A: 00000001h PD4-EB59CD-E-65-3A: 00000041h PD4-EB60SD-E-65-3A: 00000041h PD4-E591L42-EB-65-3A: 00000005h PD4-EB59CD-EB-65-3A: 00000045h PxA56S-E-3-xxBG-xxx: 00000001h PxA56S-E-3-xxBN-xxx: 00000001h PxA56S-E-3-xxCA-xxx: 00000001h PxA56S-E-3-xxCD-xxx: 00000001h PxA56S-E-3-xxCN-xxx: 00000001h PxA56S-E-3-xxEG-xxx: 00000001h PxA56S-E-3-xxFC-xxx: 00000001h PxA56S-E-3-xxGA-xxx: 00000001h PxA56S-E-3-xxKE-xxx: 00000001h PxA56S-E-3-xxMS-xxx: 00000001h PxA56L-E-3-xxBG-xxx: 00000001h PxA56L-E-3-xxBN-xxx: 00000001h PxA56L-E-3-xxCA-xxx: 00000001h PxA56L-E-3-xxCD-xxx: 00000001h PxA56L-E-3-xxCN-xxx: 00000001h PxA56L-E-3-xxEG-xxx: 00000001h PxA56L-E-3-xxFC-xxx: 00000001h PxA56L-E-3-xxGA-xxx: 00000001h PxA56L-E-3-xxKE-xxx: 00000001h PxA56L-E-3-xxMS-xxx: 00000001h 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: Since version FIR-v2213, this remains activated provided that objects 2036h and 2037h are not both set to "0". 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 PD4-E591L42-E-65-3A: 00000001h PD4-E601L42-E-65-3A: 00000001h PD4-EB59CD-E-65-3A: 00000041h PD4-EB60SD-E-65-3A: 00000041h PD4-E591L42-EB-65-3A: 00000005h PD4-EB59CD-EB-65-3A: 00000045h PxA56S-E-3-xxBG-xxx: 00000001h PxA56S-E-3-xxBN-xxx: 00000001h PxA56S-E-3-xxCA-xxx: 00000001h PxA56S-E-3-xxCD-xxx: 00000001h PxA56S-E-3-xxCN-xxx: 00000001h PxA56S-E-3-xxEG-xxx: 00000001h PxA56S-E-3-xxFC-xxx: 00000001h PxA56S-E-3-xxGA-xxx: 00000001h PxA56S-E-3-xxKE-xxx: 00000001h PxA56S-E-3-xxMS-xxx: 00000001h PxA56L-E-3-xxBG-xxx: 00000001h PxA56L-E-3-xxBN-xxx: 00000001h PxA56L-E-3-xxCA-xxx: 00000001h PxA56L-E-3-xxCD-xxx: 00000001h PxA56L-E-3-xxCN-xxx: 00000001h PxA56L-E-3-xxEG-xxx: 00000001h PxA56L-E-3-xxFC-xxx: 00000001h PxA56L-E-3-xxGA-xxx: 00000001h PxA56L-E-3-xxKE-xxx: 00000001h PxA56L-E-3-xxMS-xxx: 00000001h 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: Since version FIR-v2213, this remains activated provided that objects 2036h and 2037h are not both set to "0". 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)
