User Manual CANopen/EtherCAT
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[Chapter 9]
9 Operation modes DS402
9.1 DS402 compatible operation modes
Devices of the ServoOne families support DS402 operation modes
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)
The mode is switched by way of the CANopen object 6060h modes of operation.
This switch is possible in the “Operation enable“ (power to motor) state. The current
operation mode is indicated in the CANopen object 6061h modes of operation display.
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9.1.1 Parameter setting of ServoOne for activation via DS402:
For activation via CANopen (or CoE - EtherCAT) as per DS402 profile the following para-
meters must be set in the device:
No. Name Function Setting
159 MPRO_CTRL_SEL Control location selector DS402
165 PRO_REF_SEL Reference selector DS402
Table Parameter setting of ServoOne
These parameters can be found under “Motion Profile“ --> “Basic Settings“
If the drive is operated in a mode in which the internal profile generator is inactive and
cyclic reference value are transferred (e. g. Cyclic Synchronous Position Mode), the inter-
polation time must be configured.
No. Name Function
306 CON_IpRefTs Cycle time of the references in IP mode
Table Parameter setting of ServoOne
The interpolation time CON_IpRefTs represents the cycle time in which reference values
from a higher-level controller are expected.
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