Page History
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| Mode of Operation | Value | Description |
|---|---|---|
| CML Mode | 0 | Standard CML mode. No control registers associated |
| Profile Mode | 2 | Profile mode using P1, S1, A1, A2, R1 and N1 |
| 3 | Profile mode using
| |
| Dynamic Position Mode | 4 | Dynamic position mode using P1, A1, R1 and N1 |
| 5 | Dynamic position mode using
| |
| Torque Mode | 10 | Torque mode using N1, S1 and R1 |
| 11 | Torque mode using
|
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| Code Block | ||||
|---|---|---|---|---|
| ||||
R1=0 //clear the controlword before setting the mode _mop=2 //set the mode of operation to 2. Profile mode S1=100 //set target speed A1=10 //set target acceleration A2=10 //set target deceleration N1=1100 //set the target torque to peak R1=9 //start the profile move with the speed mode bit set. //While R1=9 any change in the profile registers will execute an immediate change |
Dynamic Position Mode
This mode can be used to dynamically stream a target position only and have the motor track it. There is a filter that filters the responsiveness of the position change as no speed or acceleration is defined. For best performance try used a fixed time interval on the position update.
| Scroll Table Layout | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
| Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
|---|---|---|---|---|---|
| CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) | ||
| TargetPosition | P1 | 41029 | 4-7 | 0-3 | The target position the motor will move to.
|
| TargetTorque | N1 | 41033 | 12-13 | 8-9 | The maximum torque the motor will use. |
| Filter Gain | A1 | 41035 | 14-15 | 10-11 | The A1 register is used to store the filter gain. |
| Controlword | R1 | 41039 | 18-19 | 14-15 | Bits in the Controlword dictate the execution. A more detailed description can be found below. |
| ModeOfOperation | Set with "_mop" | 41041 | 20 | 16 | Sets the mode of operation see 51511389 |
| DigitalOUT | N/A | 41043 | 21 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
Controlword Usage
Profile mode uses some specific bits in the Controlword
| BIT | Name | Value | Description |
|---|---|---|---|
| B0 | Start/New Set Point | 0 |
|
| 0 → 1 |
| ||
| 1 | Execute any changes in any of the profile registers immediately. | ||
| B1 | Halt | 0 | Do nothing |
| 1 |
| ||
| B3-B2 | N/A | ||
| B7-B4 | See Controlword | ||
Dynamic Position Mode Example
The following example uses the standard registers to continuously update the motor position
| Code Block | ||||
|---|---|---|---|---|
| ||||
K87=10
V1="mop" //assign V1 to set the mode of operation
a1=10 //set the filter gain to 10 (1-1024)
p1=0 //target position
p2=10 //amount to increment each iteration of the logic scan
N1=1100 //run motor at full torque
|2 //reset position to 0
L1.1 //Logic bank 1 to init all parameters
R1=0 //clear control word
V1=4 //set mode of operation to 4
|2 //set motor position to 0
P1=0 //set target position to 0
R1=1 //set control word to start running dynamic position
JL2.1 //jump to L2
END.1
L2.1 //L2 will continuously loop every #ms set in K87.
p1=p1+p2; //increment target position by P2
end.1 |
Torque Mode
Torque mode would be used where there is no target position but the motor is required to continuously hold or move at a required maximum torque. In this mode the toque set is a maximum torque and the torque will only be reached if required.
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(1) See Modbus-TCP for additional details
(2) See 51511389 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
Controlword Usage
Torque mode uses some specific bits in the Controlword
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