Completing commissioning
When you have successfully completed commis-
sioning, save your settings (using DriveManager)
and store the data set in the device.
4.7 Control functions
Control functions can be optimally adapted to the relevant application. Consequently,
several control formats are offered. The appropriate formats can be selected by the mas-
ter during the setup phase over the bus, or by adjusting the relevant device parameters.
The drive devices‘ state machine has a cycle time of 1 ms.
All control commands and reference values are processed within that cycle time by the
drive device.
Note: Control PDOs are processed in a minimum cycle time of 1 ms. If
protocols arrive at the device faster, the telegram that arrived most recently
overwrites the previous one.
An error message is not generated if telegrams are overwritten as a result
of insufficient cycle time.
4.8 Operation mode selection (Modes of operation)
There are different control modes for operation of the devices via CANopen. The active
operation mode is always selected via DS402 object 6060h (Modes of Operation).
ServoOne supports the operation modes as per the DS402:
Profile Position Mode
Profile Velocity Mode
Homing Mode
Interpolated Position Mode
Cyclic Synchronous Position Mode (EtherCAT only)
Cyclic Synchronous Velocity Mode (EtherCAT only)
Cyclic Synchronous Torque Mode (EtherCAT only)
In the course of initial commissioning the user implements the settings of the drive using
motor data, loop control settings, I/O configuration etc.
A relevant control mode is also directly connected with the respective operation mode.
By switching modes of operation via CANopen, it is possible to switch directly between
position control, speed control and torque control.
The drive is thus in speed control for Profile Velocity Mode and in position control for
Profile Position Mode.
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