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Using Command Source and Operating Modes

Overview

Operation modes (opmodes) allow you to set up your drive to communicate directly over the EthernetEthernet is a large, diverse family of frame-based computer networking technologies that operate at many speeds for local area networks (LANs) input, a specific fieldbus, or an analog or digital control.

There are two basic components to how you will command the drive and how it will behave. The “Service mode” indicates how the drive will be communicated to. The drive has communication options via Ethernet, a variety of fieldbusesA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design, through an analog input, and through electronic gearing, or digital inputs. The second component ties to which loop you will be controlling (torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist, velocity, or position).

Using Command Source and Operation Modes

There are two methods to access these two parameters within WorkBench. The first is by selecting the Settings screen from the left hand tree. By clicking on the top level of the Settings folder, you access the graphical representation of both the Command source and Operation Mode. The drop-down box then allows you to select the desired command type and control loop you wish to activate. Please note that some Command Sources can only be used with certain control loops (as an example, Electronic Gearing can only be used in position loop Operation Mode).

Command Source

The command source sets how you communicate with the drive. Initially, you might be communicating via your PCPersonal Computer using the Ethernet connection. Each Command Source is listed below:

Service

This is the most common source used when establishing initial communications with the drive to set the system up, and when you may need to “service” the drive. The Service source communicates with your PC via the Ethernet port located on the top of the drive at connector X11.

Fieldbus

When using a fieldbus, such as CANOpenCANopen is a communication protocol and device profile specification for embedded systems used in automation for fieldbuses working in real time or EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs, the drive is set to this command source. For CANOpen, use the connectors X12 and X13 located on the top of the drive. For EtherCAT, Connectors X5 and X6 located on the front of the drive are used.

Electronic Gearing

If the drive will be used to follow the output of an external encoder, following motion using an electronic gear ratio, then you should use this command source. When using Electronic Gearing, the Operation mode must be set in the Position Loop mode. This is also the mode used for step and direction inputs as well.

Analog

This command source allows the drive to be controlled from an analog source. Typically a +/- 10 VDC signal is attached to connector X8 pins 9 and 10. Varying the analog input will then vary torque, velocity, or position based on the Operation mode selected.

Operation Mode

The operation mode identifies which servo loop you will be controlling. The drive offers torque, velocity, or position control. From the setting screen page, a graphical representation of the loop is displayed. By clicking these graphical representations, you can access additional loop information such as gains, filters, and other settings.

Related Parameters

DRV.CMDSOURCE

DRV.OPMODE

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