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

AXIS#.SM.MODE

Description

Requirements

0

Constant motion in closed current loop mode of operation.

  • 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.

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

AXIS#.OPMODE = 0,1, or 2

AXIS#.CMDSOURCE = 0

1

  • 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 This mode executes the same service motion as mode 0. 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

FieldbusClosedA 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 Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCATClosedEtherCAT 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 COE and CANopen AXIS1.SM.MODE 0x500E 0x3 UINT - - RW False
AXIS2.SM.MODE 0x510E 0x3 UINT - - RW False