AXIS#.SM.MODE

Description

AXIS#.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 service motion can be stopped by using AXIS#.STOP .

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

AXIS#.SM.MODE

Description

Requirements

0

Continuous or pulse motion using V1, I1 and T1

  • AXIS#.OPMODE 0:

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

  • AXIS#.OPMODE 1 or 2:

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

AXIS#.OPMODE = 0,1, or 2

AXIS#.CMDSOURCE = 0

1

Reversing motion

  • AXIS#.OPMODE 0:

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

  • AXIS#.OPMODE 1 or 2:

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

AXIS#.OPMODE = 0, 1, or 2

AXIS#.CMDSOURCE = 0

 
2

Continuous or pulse motion using V2, I2 and T2.

However, the motion is described by AXIS#.SM.I2, AXIS#.SM.T2 and AXIS#.SM.V2. This enables a change on the fly and is mostly used under fieldbus control.

AXIS#.OPMODE = 0, 1, or 2

AXIS#.CMDSOURCE = 0

Profiles

Service Motion for AXIS#.SM.MODE 0 and AXIS#.OPMODE 0 (Current)

Profile when AXIS#.SM.T1 is greater than 0:

Profile when AXIS#.SM.T1 equals 0:

Service Motion for AXIS#.SM.MODE 0 and AXIS#.OPMODE 1 or 2 (Velocity or Position)

Profile when AXIS#.SM.T1 is greater than 0:

Profile when AXIS#.SM.T1 equals 0:

Service Motion for AXIS#.SM.MODE 1 and AXIS#.OPMODE 0 (Current)

Service Motion for AXIS#.SM.MODE 1 and AXIS#.OPMODE 1 or 2 (Velocity or Position)

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 2

Default Value

0

Data Type

Integer

See Also

Service Motion

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.SM.MODE

500eh

03h

Unsigned16

-

-

Read/Write

No

AXIS2.SM.MODE

510eh

03h

Unsigned16

-

-

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

6402

1

6402 (0x1902)

AXIS1.SM.MODE

Unsigned16

Read/Write

Yes

71938

2

6402 (0x1902)

AXIS2.SM.MODE

Unsigned16

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.SM.MODE

6402

Unsigned16

Read/Write

-