Infranor XtrapulsGem User Manual

117
X
trapulsPac - User Guide
Chapter 3 – Reference
3.2.3 - OPERATION MODES
3.2.3.1 - Supported Drive Modes
Supported Drive Modes
A drive can support more than one and several distinct modes of operation. This object gives an
overview of the implemented operating modes in the device. This object is read only.
Index 0x6502
Name Supported drive modes
Object Code VAR
Data Type Unsigned32
Object Class all
Access ro
PDO Mapping No
Value See below
Data Description
Bit Numbe
r
Function Class OpCode Servo Loops Supported
0 Profile Position Mode pp 1 position, speed and current loops AK/ET
1 Velocity Mode vm 2
2 Profile Velocity Mode pv 3 speed and current loops AK/ET
3 Profile Torque Mode pt 4 current loop AK/ET
4 reserved
5 Homing Mode hm 6 position, speed and current loops AK/ET
6 Interpolated Position Mode ip 7 position, speed and current loops AK/ET
7 Cyclic Synchronous Position csp 8 position, speed and current loops ET
8 Cyclic Synchronous Velocity csv 9 speed and current loops ET
9 Cyclic Synchronous Torque cst 10 current loop ET
7..15 Reserved
16 Analog Speed Mode as -1 speed and current loops AK
17 Stepper Emulation Mode se -2 position, speed and current loops AK
18 Sequence Mode sq -3 position, speed and current loops AK/ET
19 Reserved sm -4
20 Analog Torque Mode at -5 current loop AK/ET
21 Master-Slave Gearbox Mode gb -6 position, speed and current loops AK

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English