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0 ..3
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Type: Mode
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Mode 0: Compatibility Mode
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Mode 1: Stop motor if position error reaches the limit and show drive Alarm
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Mode 2: Stop motor if position error reaches the limit
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Mode 3: Stop motor if velocity error reaches the limit and show drive Alarm
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Mode 4: Stop motor if velocity error reaches the limit
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6
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Kff_Switch
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Define the managing of the feedforward current. See theGAIN tuning
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7
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Calibration Mode
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0= the Strong Calibration is executed each time the Close Loop has to be activated for example after the power is supplied or after an Reset Alarm that disabled the close loop
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1= the Strong Calibration, is executed only the first time the power is supplied or when happen an Alarm that require the Strong Calibration (example encoder misalignment), in all other cases after the Reset_Alarm is sent, the Little Calibration will be done. See theGAIN tuning
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2 = incremental encoder + Hall sensor
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4 = absolute encoder multi turn SSI
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5 = absolute encoder multi turn SSI + incremental encoder
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6 = absolute encoder multi turn BISS
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7 = absolute encoder multi turn BISS + incremental encoder
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