Estun Summa Series - Control Modes; Modes of Operation

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-7
6.3 Control Modes
The Drive supports 8 control modes as defined in 6502h.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6502h
0
Supported Drive
Modes
UINT32
RO
No
0x03ED
Bit
Supported mode
Definition
0
Profile Position
1: Supported
1
Vl (Velocity mode)
0: Not supported
2
PV (Profile Velocity mode)
1: Supported
3
TQ (Torque Profile mode)
1: Supported
4
Reserved
0
5
HM (Homing mode)
1: Supported
6
IP (Interpolated Position mode)
1: Supported
7
CSP (Cyclic Sync Position mode)
1: Supported
8
CSV (Cyclic Sync Velocity mode)
1: Supported
9
CST (Cyclic Sync Torque mode)
1: Supported
10 to 31
Reserved
0
6.3.1 Modes of Operation
This object is used to select the operation mode. The Servo System gives the actual operation mode in the
Modes of Operation Display object.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6060h
0
Modes of
Operation
UINT8
RW
Yes
0 to 10
Default: 0
Value
Description
0
There is no mode change or no mode assigned
1
Profile Position Mode
2
－
3
Profile Velocity Mode
4
Profile Torque Mode
5
－
6
Homing Mode