Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 321
Control Mode
Usage Access Data Type Default Min Max Value Description
Required - All
Derived from Axis
Configuration
Get/
SSV
(1)
BYTE 0 0 4 Enumeration
0 = No Control
1 = Position Control
2 = Velocity Control
3 = Acceleration Control
4 = Torque Control
5...15 = Reserved
(1)
SSV - These configuration attributes cannot be changed online or using an SSV
instruction if the axis is in the Running state, for example the Tracking Command
bit of the CIP Axis Status attribute.
The Control Mode attribute determines the general dynamic control behavior of
the drive device axis instance and consists of a 4-bit enumeration. This value is
derived from the axis configuration attribute value during initialization. This
attribute is transferred to the device as part of the Cyclic data block.
When modified programmatically, using SSV, the Control Mode value cannot be
set to an enumeration that the current Axis Configuration cannot support. For
example if the axis configuration is set for Velocity Loop, the Control Mode
cannot be changed to Position Loop since position loop attributes have not been
configured. This table provides a list of valid Control Modes for a given axis
configuration:
Axis Configuration Valid Control Modes
Converter Only No Control
Feedback Only No Control
Frequency Control Velocity Control
Position Loop
Position Control
Velocity Control
Torque Control
Velocity Loop
Velocity Control
Torque Control
Torque Loop Torque Control
The Control Mode attribute is a 4-bit enumeration that determines the specific
dynamic behavior of the motor that the device is to control for this axis instance.
The following table provides descriptions of valid Control Modes.
Enumeration Usage Name Description
0 R/N No Control
No motor control is provided in this mode but interface
to a specific feedback device as a master feedback
source is possible using the Feedback Configuration
attribute.
1 R/P Position Control Controls the position, or orientation, of the motor.
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