194 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
YX: Control Mode Setting
Abbreviation Mode Description
PT Position control
(terminal block
input)
Its command source is inputted from external pulse and external analog voltage.
PR Position control
(internal register
input)
Its command source is inputted from 100 sets of internal register, which can be
selected by DI.POS0…DI.POS6 signals. Multiple homing methods are also
available.
S Speed control Its command source is from external analog voltage and internal register, which
can be selected by DI.SPD0 and DI.SPD1 signals.
T Torque control Its command source is from external analog voltage and internal register, which
can be selected by DI.TCM0 and DI.TCM1 signals.
Sz Speed control Its command source is from zero speed and internal speed register, which can be
selected by DI.SPD0 and DI.SPD1 signals.
Tz Torque control Its command source is from zero torque and internal torque register, which can
be selected by DI.TCM0 and DI.TCM1 signals.
Dual Can switch the mode via external digital input. For example, DI.S-P signal can be
used to switch the dual mode of PT/S (control mode setting: 06).
For further information, see Description of Digital Input Functions
on page 405.
Multi Can switch the mode via external digital input. For example, DI.S-P and PT-PR
signals can be used to switch the multi-mode of PT/PR/S (control mode setting:
12).
For further information, see Description of Digital Input Functions
on page 405.
I/O mode Its command source is from an external controller, which issues the command to
the servo drive via communication.
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