Selects the command that will be tried by the drive state machine. The command will fact launch
when the Enter key is pressed, this button is enabled only if the operating mode is set to Local
Operating mode
Sets the operating mode or function performed by the drive. You can choose from the following values:
l Analog speed: the drive operates a speed control following a reference coming from an analog
input. You can set a variable torque limit also coming from the analog input.
(Typical operating mode: Analog)
l Analog torque: the drive operates a torque control following a reference coming from an analog
input. You can set a variable torque limit also coming from the analog input.
(Typical operating mode: Analog)
l Internal speed: the drive operates a speed control following an internally generated reference,
see Function Generator
(Typical operating mode: Local)
l Internal torque: the drive operates a torque control following an internally generated reference,
see Function Generator
(Typical operating mode: Local)
l Sync Cyclic position: the drive operates a position control following a cyclical reference
generated by a device/remote control. This is the Cyclic Synchronous Position Mode defined in
the DS402 standard.
(Typical operating mode: EtherCAT/CANopen)
l Cyclic Sync Speed: the drive operates a speed control following a cyclical reference generated
by a device/remote control. This is the Cyclic Synchronous Speed Mode defined in the DS402
standard.
(Typical operating mode: EtherCAT/CANopen)
l Cyclic Sync Torque: the drive operates a torque control following a cyclical reference generated
by a device/remote control. This is the Cyclic Synchronous Torque Mode defined in the DS402
standard.
(Typical operating mode: EtherCAT/CANopen)
Additional application-specific modes are available and are not described in this document.
When the drive commands are internally generated (e.g., Operating mode = Local, Operational Mode =
Internal speed) is possible to characterize different reference profiles (Square, Triangle, Sawtooth, Sin,
Profile, Jog).
Function Generator
The Dx2020 GUI includes a mode called "Function Generator": this type of control mode can be used
only as "Local" and requires manually setting and generating the operations required for the movement
of the motor with different types of waveforms. The internal function generator produces speed
reference profiles when set on “Internal speed” and torque profiles when set on “Internal torque”.
PN: L-MAM2-E-201
Moog Casella DM2020 Installation and Startup Guide
6.4.8 Commands and Modes Configuration
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