Motor Control Modes

There are two modes to control motor that can depend on motor type and if feedback sensor is used or not. The control mode without feedback is called Open Loop and with feedback is called Closed Loop. For controllers with feedback, the measured actual value is constantly compared with a target set point value and any deviation between these values is adjusted according to the control feedback parameters. In Closed Loop the motor can be controlled in position, velocity and torque.

Motor Control mode	Stepper motor	BLDC motor	BLAC motor
Open Loop	YES	NO	NO
Closed Loop	YES	YES	YES

Different feedback sensors are compatible with different motors and controller drives. Check the table below for more information.

Feedback Sensor Type	Stepper motor	BLDC motor	BLAC motor
Hall Sensors	NO	YES	YES
Hall Sensors + Encoder	NO	YES	YES
Encoder	YES	YES	YES

Different operating modes can be used depending on the control mode. The following table indicates all possible operation types in various control modes:

DS402 Operating mode	Control mode
	Open Loop	Close Loop
Homing mode (hm)	YES	YES
Profile Position Mode (pp)	YES	YES
Velocity Mode (vl)	YES	YES
Profile Torque mode (tq)	NO	YES
Profile Velocity mode (pv)	YES	YES
Interpolated Position Mode (ip)	YES	YES
Cyclic Synchronous Position mode (csp)	YES	YES
Cyclic Synchronous Velocity mode (csv)	YES	YES
Cyclic Synchronous Torque (cst)	NO	YES

The Profile Torque mode (tq) and Cyclic Synchronous Torque (cst) cannot work in the Open Loop control mode because tthey require a feedback sensor.

The bit#4 of the Drive_Working_Settings object (2200.2H) is used to enable Closed Loop mode or Open Loop mode.