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There are a number of modes of operation the motor can be set to.

  1. CML mode - this is the standard and default mode. 
  2. Profile mode - run position or speed profiles
  3. Torque mode - run in a torque mode

Setting Mode Of Operation

The control registers in the mode selected use either standard CML registers or registers set directly such as through Modbus-TCP. The mode of operation selected indicates where the control registers will be received

The following table lists the mode of operation and the associated registers

Mode of OperationValueDescription
CML Mode0Standard CML mode. No control registers associated
Profile Mode2Profile mode using P1, S1, A1, A2, R1 and N1
3Profile mode using Modbus control registers (see registers starting 41029).
Torque Mode10Torque mode using N1, S1 and R1
11Torque mode using Modbus control registers (see registers starting 41029).

Set the mode of operation by the following

  1. Send "mgen=x" on the CML port when x is the value of the mode of operation
    1. If the mode of operation is changed in program/logic banks set a variable to "mgen" and change the value in the bank accordingly.
  2. Set modbus register 41041 to the value of the required mode of operation.

CML Mode

CML mode is the standard mode that the Cool Muscle motor typically operates in. There are no specific control registers. See the CM1 documentation for CML mode usage.


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