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Table of Contents

Setting Mode Of Operation

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

  1. CML mode - this is the standard and default mode. If no mode is selected, this is the mode the motor Cool Muscle operates in.
  2. Profile mode - run position or speed profiles.
  3. Torque mode - run the motor by adjusting the torque and maximum speed values.

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).
  • Bit0 of the mode of operation selects the register source. I.e. P1 to N1 or the Modbus contorl registers.

Set the mode of operation by the following

  1. Send "_mop=x" on the CML port when x is the value of the mode of operation
  2. Assign a variable to "mop" and write the variable in a logic bank. E.g. V0="mop".
  3. 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.

Register Name

CML Register

Modbus Register

UnitRange
ControlwordR141039N/ASee below

Bit Descriptions:

BITNameValueDescription
B0Operation mode specific
B1Operation mode specific
B2Operation mode specific
B3Operation mode specific
B4Disable0
1
1 → 0		Enable the motor
Disable the motor
Reset any error
B5Reset Error0 → 1Reset any error
B6Set to Zero0 → 1Set the current position to 0
B7Home0 → 1Start a home search(1)

(1) Set the home search parameters with K parameters K42-K48

TargetPosition

The TargetPosition sets a new target position for the motor.

Register Name

CML Register

Modbus Register

UnitRange
TargetPositionP141029pulses (counts)-2^31 to +2^31

The motor has a maximum resolution of 50,000 counts per revolution. Regardless of the resolution defined in K37 the motor internally will convert the target position to a position based on 50,000. As such the maximum range depends on the motor resolution. For example if K37=3 and the resolution is 1000 pulses/revolution, the maximum target position is 2^31 ÷ (50,000/1,000) = 2^31 ÷ 50  = 42,949,672.

TargetSpeed

The TargetSpeed sets a new maximum speed.

Register Name

CML Register

Modbus Register

UnitRange
TargetSpeedS141031pulses/second
10 pulses/second
100 pulses/second		-2^31 to +2^31

The unit depends on the motor resolution (K37) value selected. See K37 for more details.

TargetTorque

The TargetTorque sets the maximum torque used by the motor.

Register Name

CML Register

Modbus Register

UnitRange
TargetTorqueN1410330.1% rated torque0 - 1100

The torque is set in a percentage of rated torque. The Cool Muscle will only use the torque required so typically this value should be set to 1100 unless the application requires that the torque is limited.

TargetAcceleration

The TargetAcceleration sets the acceleration used by the motion profile.

Register Name

CML Register

Modbus Register

UnitRange
TargetAccelerationA141035Kpulses/second2± 32767

If the TargetAcceleration=0 the profile shall be undefined and may result in an unexpected motion profile.

TargetDeceleration

Register Name

CML Register

Modbus Register

UnitRange
TargetDecelerationA241037Kpulses/second2± 32767

If the TargetDeceleration=0 the TargetAcceleration shall be used. This allows the user to only change the acceleration if a trapezoid type profile is required.

Modes

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)

Description
TargetPositionP141029

The target position the motor will move to.

  • Used as an absolute position
  • Used as an incremental position in a relative control(1) move
  • Not used in speed control(1)

(1) See the Controlword for switching to speed or relative control.

TargetSpeedS141031

The maximum speed of the profile trajectory.

TargetTorqueN141033The maximum torque the motor will use
TargetAccelerationA141035

Acceleration is used when the profile is accelerating to the target speed.
This is regardless of whether the target speed will be reached or not

TargetDecelerationA241037Deceleration is used when the profile is decelerating to the target position.
ControlwordR141039Bits in the Controlword dictate profile execution. A more detailed description can be found below.

Controlword Usage

Profile mode uses some specific bits in the Controlword

BITNameValueDescription
B0Start/New Set Point

0

  • Do not execute any changes in profile registers
  • Do not start a new profile
  • Any profile currently in motion will be completed
0 → 1
  • Start a profile move defined by the profile registers
  • 0 → 1 transition is required to start a profile after
    • an error has been cleared
    • a home has been completed
    • a stop command has been given from CML or an input.
  • In relative mode transition is required to start the next incremental move.
    • The move is incremented from the current target position not the actual position.
1Execute any changes in any of the profile registers immediately.
B1Halt

0

Do nothing
1
  • Halt the current profile being executed
  • Prohibit execution of a profile if no profile is being run
B2Relative mode0TargetPosition is an absolute position
1TargetPosition is a relative incremental position
B3Speed control0Position control mode
1Speed control mode
B4See Controlword
B5See Controlword
B6See Controlword
B7See Controlword

Profile Mode Examples

The following example uses the standard registers to run an absolute move. This could be run from a Control Room CML script.

Absolute Move Example
R1=0		//clear the controlword before setting the mode
_mop=2		//set the mode of operation to 2. Profile mode
P1=10000	//set target position
S1=100		//set target speed
A1=10		//set target acceleration
A2=10		//set target deceleration
N1=1100		//set the target torque to peak
R1=1		//start the profile move

//While R1=1 any change in the profile registers will execute an immediate change

The following example uses the standard registers to run a speed move. This could be run from a Control Room CML script.

Speed Move Example
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
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