Table of Contents
There are a number of modes of operation the motor can be set to.
- CML mode - this is the standard and default mode.
- Profile mode - run position or speed profiles.
- Torque mode - run the motor by adjusting the torque and maximum speed values.
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 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 Modbus control registers (see registers starting 41029). | |
Torque Mode | 10 | Torque mode using N1, S1 and R1 |
11 | Torque mode using Modbus control registers (see registers starting 41029). |
Set the mode of operation by the following
- Send "mgen=x" on the CML port when x is the value of the mode of operation
- If the mode of operation is changed in program/logic banks set a variable to "mgen" and change the value in the bank accordingly.
- Set modbus register 41041 to the value of the required mode of operation.
Registers
The following registers are used in the different modes of operation. They are NOT use on CML mode.
Controlword
The Controlword is used to control the motor. The usage does depend on the mode that is selected. See the mode for bit usage. B4-B7 are common to all modes.
BIT | Name | Value | Description |
---|---|---|---|
B0 | Operation mode specific | ||
B1 | Operation mode specific | ||
B2 | Operation mode specific | ||
B3 | Operation mode specific | ||
B4 | Disable | 0 1 1 → 0 | Enable the motor Disable the motor Reset any error |
B5 | Reset Error | 0 → 1 | Reset any error |
B6 | Set to Zero | 0 → 1 | Set the current position to 0 |
B7 | Home | 0 → 1 | Start a home search(1) |
(1) Set the home search parameters with K parameters K42-K48
Target Position
TargetSpeed
TargetTorque
TargetAcceleration
TargetDeceleration
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.
Profile Mode
Profile mode would be a typical mode used in point-to-point motion and/or continuous velocity motion. The following registers are used depending on the profile mode selected.
Register Name | Profile Mode = 2 (CML Registers) | Profile Mode = 3 (Modbus Registers) | Unit | Description |
---|---|---|---|---|
TargetPosition | P1 | 41029 | pulses (counts) | Next target position the motor will move to |
TargetSpeed | S1 | 41031 | pulses/second | The maximum speed of the profile trajectory |
TargetTorque | N1 | 41033 | 0.1% rated torque | The maximum torque the motor will use |
TargetAcceleration | A1 | 41035 | Kpulses/second2 | Acceleration used when accelerating to TargetSpeed |
TargetDeceleration | A2 | 41037 | Kpulses/second2 | Deceleration used when decelerating to TargetPosition |
Controlword | R1 | 41039 | N/A | Bits in the Controlword dictate profile execution |