AKD User Guide | 11 Using Command Source and Operating Modes
11.1 Overview
Operation modes (opmodes) allow you to set up your drive to communicate directly over the Ethernet input, a spe-
cific fieldbus, or an analog or digital control.
There are two basic components to how you will command the drive and how it will behave. The “Service mode”
indicates how the drive will be communicated to. The drive has communication options via Ethernet, a variety of
fieldbuses, through an analog input, and through electronic gearing, or digital inputs. The second component ties
to which loop you will be controlling (torque, velocity, or position).
11.2 Using Command Source and Operation Modes
Therearetwomethods toaccess thesetwoparameters withinWorkBench. Thefirst is by selectingtheSettings
screenfromtheleft handtree. By clickingonthetoplevel of theSettings folder, youaccess the graphical represen-
tationof boththeCommandsourceandOperationMode. Thedropdownbox thenallows youtoselect thedesired
commandtypeandcontrol loopyou wishtoactivate. Pleasenotethat someCommandSources canonly beused
withcertaincontrol loops (as anexample, Electronic Gearingcan only beusedinpositionloopOperationMode).
11.2.1 Command Source
The command source sets how you communicate with the drive. Initially, you might be communicating via your
PC using the Ethernet connection. Each Command Source is listed below:
11.2.1.1 Service
This is the most common source used when establishing initial communications with the drive to set the system
up, and when you may need to “service” the drive. The Service source communicates with your PC via the Eth-
ernet port located on the top of the drive at connector X11.
11.2.1.2 Fieldbus
When using a fieldbus, such as CANOpen or EtherCAT, the drive is set with this command source. For CAN-
Open, use the connectors X12 and X13 located on the top of the drive. For EtherCAT, Connectors X5 and X6
located on the front of the drive are used.
11.2.1.3 Electronic Gearing
If the drive will be used to follow the output of an external encoder, following motion using an electronic gear ratio,
then you should use this command source. When using Electronic Gearing, the Operation mode must be set in
the Position Loop mode. This is also the mode used for step and direction inputs as well.
11.2.1.4 Analog
This command source allows the drive to be controlled from an analog source. Typically a +/- 10 Vdc signal is
attached to connector X8 pins 9 and 10. Varying the analog input will then vary torque, velocity, or position based
on the Operation mode selected.
11.2.1.5 Operation Mode
The operation mode identifies which servo loop you will be controlling. The drive offers torque, velocity, or posi-
tion control. From the setting screen page, a graphical representation of the loop is displayed. By clicking these
graphical representations, you can access additional loop information such as gains, filters, and other settings.
11.2.2 Related Parameters
DRV.CMDSOURCE
DRV.OPMODEDRV.OPMODE
112 Kollmorgen | December 2010
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