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.

Industrial Ethernet 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

-