SM.MODE

Description

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:

SM.MODE

Description

Requirements

0

Constant motion in closed current loop mode of operation.

  • DRV.OPMODE 0:

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

  • DRV.OPMODE 1 or 2:

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

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

DRV.OPMODE = 0,1, or 2

DRV.CMDSOURCE = 0

1

  • DRV.OPMODE 0:

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

  • DRV.OPMODE 1 or 2:

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

DRV.OPMODE = 0, 1, or 2

DRV.CMDSOURCE = 0

 
2 This mode executes the same service motion as mode 0. However, the motion is described by SM.I2, SM.T2 and SM.V2. This enables a change on the fly and is mostly used under fieldbus control.

DRV.OPMODE = 0, 1, or 2

DRV.CMDSOURCE = 0

Ramps

The drive uses DRV.ACC and DRV.DEC for the ramps in DRV.OPMODE 1 (closed velocity) and 2 (closed position). The drive does not generate any ramps in service motion mode 0 and 1.

Service Motion for DRV.OPMODE 0 and SM.MODE 1

Service motion for DRV.OPMODE 1 or 2 and SM.MODE 1

The deceleration process from SM.V1 or SM.V2 to 0 is not included in SM.T1 and SM.T2, respectively. SM.T1 and SM.T2 start as soon as the command value has reached the velocity 0.

General Information

Type

NV Parameter

Units

N/A

Range

0 to 2

Default Value

0

Data Type

Integer

See Also

SM.I1, SM.I2, SM.MOVE, SM.T1 SM.T2, SM.V1, SM.V2, DRV.ACC DRV.DEC

Start Version

M_01-01-00-000

FieldbusClosed A 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

Index/Subindex

Object Start Version

EtherCATClosed ***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

5177h/0

M_01-01-00-000

Related Topics

Service Motion