AXISx.IL.CMDMODE
Description
AXIS#.IL.CMDMODE selects the type of current command that is used in Torque mode.
| Value | Description |
|---|---|
| 0 | DQ current command: AXIS#.IL.CMDU sets the torque producing current that creates axis motion. |
| 1 | UVW current commands: AXISx.IL.IUCMDU and AXISx.IL.IVCMDU set the U and V phase currents, and the W phase current is calculated from them so that the sum of the three phase currents is zero. The axis locks at the position corresponding to the generated force. |
The default AXIS#.IL.CMDMODE = 0 is appropriate in most situations, where the goal is to create rotary or linear motion without velocity or position control, simply using the drive’s ability to produce torque and commutate.
Occasionally during commissioning and in special applications, it is helpful to command phase currents directly using AXIS#.IL.CMDMODE = 1. For example, the UVW motor connections can be checked by comparing phase current commands to the corresponding feedbacks.
AXISx.IL.CMDMODE is in use only when AXIS#.OPMODE = 0 (Torque).
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-07-03-000 |
General Information
| Type | Read/Write |
| Units | N/A |
| Range | 0, 1 |
| Default Value | 0 |
| Data Type | Integer |
| See Also | AXIS#.IL.CMDU , AXISx.IL.IUCMDU, AXISx.IL.IVCMDU |
| Stored in Non-Volatile Memory | Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5830 |
1 |
5830 (0x16c6) |
AXIS1.IL.CMDMODE |
Unsigned8 |
Read/Write |
Yes |
|
71366 |
2 |
5830 (0x16c6) |
AXIS2.IL.CMDMODE |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.IL.CMDMODE |
5830 |
Unsigned8 |
Read/Write |
- |
