￭
Torque control mode
Motor torque follows a torque reference given to the drive. Torque control is
possible without feedback, but is much more dynamic and accurate when used in
conjunction with a feedback device such as an encoder or a resolver. It is
recommended that a feedback device is used in crane, winch or lift control
situations.
Torque control mode is available in DTC motor control mode for both local and
external control locations.
￭
Position (synchron, homing, profile velocity) control mode
The position, synchron, homing and profile velocity modes activate the parameters
in groups 74…88. All of these modes currently enable full position control – for
example, there is no need to switch from position operating mode to homing
operating mode for homing functions.
The position control mode covers various movements activated by the position
control word (parameter group 74) to have a profiled move, velocity, or
synchronized operation with a master reference. In addition, several different
homing modes are supported. For descriptions of the motion commands, see
chapter Position control program features (page 33).
Position control is available in DTC motor control mode for the external control
locations.
￭
Special control modes
In addition to the control modes mentioned above, the following special control
modes are available:
• Emergency stop modes Off1 and Off3: Drive stops along the defined
deceleration ramp and drive modulation stops.
• Jogging mode: Drive starts and accelerates to the defined speed when the
jogging signal is activated. The control program has two different methods
for jogging:
• Jogging in position control mode, running in velocity control using the
position controller. See section Jog forward, Jog reverse (page 35).
• Jogging in speed control mode. See section Jogging (page 85).
Control locations and operating modes 27
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