| ASCII - Command | OPMODE | |||
| Syntax Transmit | OPMODE [Data] | |||
| Syntax Receive | OPMODE <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer8 | CANBus Object Number | 35B4 (hex) | |
| DIM | - | PROFIBUS PNU | 1780 (dec) IND = 1 (dec) | |
| Range | 0, 1, .. , 8 | DPR | 180 (dec) | |
| Default | 0 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | - | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | No | Last Change of this Object | 2.10 | |
| Function Group | control commands | EEPROM | Yes | |
| Short Description | Operating Mode | |||
Description
| The OPMODE command is used to set the operating mode (basic function) for the amplifier. This operating mode can be changed over at any time, through the fieldbus interface or the digital I/O (INxMODE=24). The following settings are possible: |
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| Status | Short Description | Description |
| OPMODE=0 | Velocity control -digital command | Digital (rotational) velocity There are different possibilities to generate a velocity command: - RS232 Interface ("J" command) - Fieldbus Interface (PROFIBUS, CANopen, SERCOS, DPR Slot boards) |
| OPMODE=1 | Velocity control -analog command | Analog (rotational) velocity The velocity setpoint is generated by the Analog In s 1/2. The configuration is done with ANCNFG and INxMODE=8. |
| OPMODE=2 | Current control -digital command | Digital torque The current setpoint can be generated by: - RS232 Interface ("T" command) - Fieldbus Interface (PROFIBUS, CANopen, SERCOS, DPR Slot boards) |
| OPMODE=3 | Current control -analog command | Analog torque The current command is generated by the Analog In s 1/2. The configuration is done with ANCNFG and INxMODE=8. |
| OPMODE=4 | Electronic Gearing (Master/Slave) | Position: electr. gearing The target position is generated by an extrenal encoder. The type of the activated interface is selected by GEARMODE. |
| OPMODE=5 | External Trajectory | Position: ext. position nodes The target position is generated by fieldbus (PROFIBUS, CANopen or DRP Slot board). The cycle time for writing the new position can be selected with the command PTBASE in 250µs steps. The position controller brings the actual position to the new target postion in the selected time. When using ANCNFG=8, the target position is given by the Analog In 1. The analog voltage is read every 250µs and is used as target position for the position controller. The scaling of the anlog input voltage is done with SRND and ERND. Before this function is active, a homing move has to completed. |
| OPMODE=6 | SERCOS control | SERCOS control |
| OPMODE=7 | Reserved | |
| OPMODE=8 | Motion Tasks | Position: motion blocks This setting allows the starting of motion tasks and also the homing moves. |