SM.MODE

Description

SM.MODE defines the mode of service motion for each loop. Two types of service motion are available :

  1. A constant motion in one direction (endless or for a certain amount of time).
  2. An alternating motion.

The possible modes for this parameter are described in the following table:

SM.MODE Description Requirements

0

Constant motion in closed current loop mode of operation.

  • DRV.OPMODE 0:

    The drive generates a constant current command value (SM.I1) for a certain amount of time (if SM.T1>0) or endless (if SM.T1=0). The drive will not generate any ramps in this mode of operation.

  • DRV.OPMODE 1 or 2:

    The drive generates a constant velocity command value (SM.V1) for a certain amount of time (if SM.T1>0) or endless (if SM.T1=0). The drive generates acceleration and deceleration ramps according to the DRV.ACC and DRV.DEC setting in this mode of operation.

The service motion can be stopped by using the DRV.STOP command.

DRV.OPMODE = 0,1, or 2

DRV.CMDSOURCE = 0

1

  • DRV.OPMODE 0:

    The drive generates a current command value (SM.I1) for a certain amount of time (SM.T1). Afterwards the drive generates a current command value (SM.I2) for another certain amount of time (SM.T2). This sequence is repeated as long as a DRV.STOP command occurs. The drive will not generate any ramps in this mode of operation.

  • DRV.OPMODE 1 or 2:

    The drive generates a velocity command value (SM.V1) for a certain amount of time (SM.T1). Afterwards the drive generates a velocity command value (SM.V2) for another certain amount of time (SM.T2). This sequence is repeated as long as a DRV.STOP command occurs. The drive will generate an acceleration and deceleration ramps according to the DRV.ACC and DRV.DEC setting in this mode of operation.

DRV.OPMODE = 0, 1, or 2

DRV.CMDSOURCE = 0

 
2 This mode executes the same service motion as mode 0. However, the motion is described by SM.I2, SM.T2 and SM.V2. This enables a change on the fly and is mostly used under fieldbus control.

DRV.OPMODE = 0, 1, or 2

DRV.CMDSOURCE = 0

Ramps

The drive uses DRV.ACC and DRV.DEC for the ramps in DRV.OPMODE 1 (closed velocity) and 2 (closed position). The drive does not generate any ramps in service motion mode 0 and 1.

Service Motion for DRV.OPMODE 0 and SM.MODE 1

Service motion for DRV.OPMODE 1 or 2 and SM.MODE 1

The deceleration process from SM.V1 or SM.V2 to 0 is not included in SM.T1 and SM.T2, respectively. SM.T1 and SM.T2 start as soon as the command value has reached the velocity 0.

General Information

Type

NV Parameter

Units

N/A

Range

0 to 2

Default Value

0

Data Type

Integer

See Also

SM.I1, SM.I2, SM.MOVE, SM.T1 SM.T2, SM.V1, SM.V2, DRV.ACCDRV.DEC

Start Version

M_01-01-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version

5177h /0

 M_01-01-00-000
PROFINET and Sercos® III
Fieldbus

Address

 Attributes Signed?

PROFINET

2375 Word No
Sercos® III 2 Octets
EtherNet/IP
Instance Data Size Data Type
376 2 Byte Integer
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

750

 No 16 bit No M_01-03-00-000

Related Topics

Service Motion