Device Control 

The device control function block manages all drive functions. It is divided into:

• State machine

• Operation mode

The state machine describes the device status and the possible control sequence of the drive. A single state represents a unique internal or external behavior. The state of the drive also determines which commands are accepted. States may be changed by the Controlword (6040.0H) according to internal events. Statusword (6041.0H) has the current state.

The operation mode defines the behavior of the drive. The drive functions depend on the Modes of operation (6060.0H) selected. The specific drive function is executed only when the drive status is Operation Enabled.

The following modes of operation are available in Kollmorgen drives:

• Interpolated Position Mode (ip)

• Profile Position Mode (pp)

• Homing Mode (hm)

• Profile Velocity Mode (pv)

• Cyclic Synchronous Position Mode (csp)

• Cyclic Synchronous Velocity mode (csv)

• Velocity Mode (vl)

• Profile Torque Mode (tq)

• Cyclic Synchronous Torque Mode (cst)

• Feedback Sensor Calibration Mode (fsc)