_CONF – Device configuration and I/O Subject area • 15Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
300-CFCON - Current control mode of servo
Source: Configuration Control
Function: Choice of control mode (e.g. speed control)
For each control mode appropriate reference values are stored in the servocontroller (sepa-
rate structures for each control mode). As a result, when the control mode is switched the
reference values are also switched.
In the MC7000 as from software V3.0 the control modes are subdivided into operation
modes (parameter RNMOD)
.
309-CFENC - Encoder type
Source: Configuration Encoder
Function: Configuration of the encoder.
Values:
Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table SCON – R4W4 SYSTM FLOAT32
Settings
No. Setting Designation Operation mode
1 TCON Torque Control
Closed-loop torque
control
2 SCON Speed Control
Closed-loop speed
control
3 PCON Position Control
Closed-loop position
control
Note:
If in torque control mode the torque (reference) is greater than the load torque, the
drive accelerates up to the speed/voltage limit. The speed limit can be set by way of
parameter SCSMX(_SCON).
Note:
In position control the position is given in revolution. A reference value of 1.00 corre-
sponds to the position rotated clockwise through 360°.
Accelerations and decelerations are always executed torque-controlled at the maxi-
mum value TCMMX.
CAUTION - Do not change parameter!
Parameter only for development and service purposes
1) The motor data sets supplied on floppy disk or S
MARTCARD contain the correct
setting of CFENC for the encoder built into the motor.
2) With this parameter the encoder can also be set manually (MODE = 5).
3) In the normal setting "OFF" the resolvers Rx and G1 and G2 are automatically
detected. The parameters of G3, G4 and G5 must be set in CFENC.
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