| ASCII - Command | GEARMODE | |||
| Syntax Transmit | GEARMODE [Data] | |||
| Syntax Receive | GEARMODE <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer8 | CANBus Object Number | 353F (hex) | |
| DIM | - | PROFIBUS PNU | 1663 (dec) IND = 1 (dec) | |
| Range | 0 .. 30 | DPR | 63 (dec) | |
| Default | 0 | |||
| Opmode | 4 | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | Yes | Last Change of this Object | 2.12 | |
| Function Group | position loop | EEPROM | Yes | |
| Short Description | Position Input Electronic Gearing Mode | |||
Description
| The servo amplifier is controlled through different interfaces from various sources. The GEARMODE variable configures the source that provides the master setpoint (position). For the connector pin assignments, see the Installation Manual. All devices resolver, SinCos and incremental signals can be used at the same time. Resolver for commutation and speed control, SinCos for position control and incremental encoder for electronic gearing. Following settings have to be made: EXTPOS=1 .. 3 (External actual position) |
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| Status | Description | |
| GEARMODE=0 | No Feedback | |
| GEARMODE=1 | X3 (24V Pulse/Direction) | Pulse And Direction Digital I/O 24V (X3) With a stepper motor control (pulse/direction, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored. INPUT1=direction (Low = positive, High = negative) INPUT2=pulse |
| GEARMODE=2 | X3 (24V ROD) | digital encoder Encoder Follower Digital I/O 24V (X3) With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored. |
| GEARMODE=3 | X5 (5V ROD) | digital encoder Encoder Follower Digital I/O 5V X5 With an incremental encoder connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7. ENCMODE has to be set to "0". |
| GEARMODE=4 | X5 (5V pulse and direction) | pulse and direction Digital I/O With a stepper motor control connected to connector X5, terminals 4, 5, 6, 7. INPUT1=direction (Low = positive, High = negative) INPUT2=pulse ENCMODE has to be set to "0" |
| GEARMODE=5 | X5 (SSI) | SSI at X5 |
| GEARMODE=6 | X1 (5V) | sine encoder Only analog processing. |
| GEARMODE=7 | X1 (12V) | sine encoder Only analog processing. |
| GEARMODE=8 | X1 (EnDat) | The difference to GEARMODE=6 is, that the parameter channel of the encoder is read and the absolute position is transfered to the position register. ENCLINES is calculated automatically to thie internal resolution of 20 Bit per rev of the encoder. This setting can be used in position mode under EXTPOS=1. The sine/cosine signals of the encoder are read analog. This increases the resolution significantly. |
| GEARMODE=9 | X1 (HIPERFACE) | The difference to GEARMODE=6 is, that the parameter channel of the encoder is read and the absolute position is transfered to the position register. ENCLINES is calculated automatically to the internal resolution of 20 Bit per rev of the encoder. This setting can be used in position mode under EXTPOS=1. The sine/cosine signals of the encoder are read analog. This increases the resolution significantly. |
| GEARMODE=10 | X1 (5V ROD) | ROD-encoder as master - slave input (OPMODE = 4) |
| GEARMODE=25 | X1 (SSI) | SSI at X1 |
| GEARMODE=27 | X1 (5V) | pulse/direction Only digital processing |
| GEARMODE=30 | X1 (ROD) | ROD (A Quad B) Only digital processing |