AXIS#.SM.MODE
Description
AXIS#.SM.MODE defines the mode of service motion for each loop. Two types of service motion are available:
- A constant motion in one direction (endless or for a certain amount of time).
- 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 = 0,1, or 2 AXIS#.CMDSOURCE = 0 |
1 |
Reversing motion
|
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 |
|
Stored in Non Volatile Memory |
Yes |
Variants Supported
All variants are supported
Fieldbus Information
FieldbusA 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 | PDOPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable |
---|---|---|---|---|---|---|---|---|
EtherCAT***EtherCAT 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 |