Page History

The protocols are the different Ethernet languages the user can implement to communicate to the controls methods. They are

• TCP/IP and UDP
• Modbus-TCP
• EtherNet/IP

The control method indicates how the motor controller is communicated with, updated and controlled. Control methods are

• CML- the motor runs logic and program banks
• Direct Control - the motor receives position, speed, acceleration/deceleration and torque values to dynamically move between targets

The mode of operation is how the motor controller operates in Direct Control. This is how the motor's motion controller generates a set of outputs to the motor driver. These are typically

• CML mode - traditional operation of the motor
• Profile mode - operate the motor by in position and/or speed control
• Torque mode - operate the motor by limiting torque and speed.