270 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 10 Modes of Operation
In Position Mode, when the transition to Speed mode occurs and the selected
speed preset is valid, the motor begins executing the selected preset speed.
For more information, see Position Control
on page 236 and Speed Mode on
page 246.
Speed/Torque Dual Mode
The timing chart below shows the behavior of the dual mode operation when
switching from Speed mode into Torque Mode.
• S-T (Digital Input = Torque/Speed modes selection, 0=Torque, 1=Speed
as shown
• TCM0/TCM1 indicate that the preset torque register values are valid
• SPD0/1 indicate that the preset speed registers are valid
IMPORTANT
To avoid large speed changes when switching modes, be sure to
set the S-curve Smoothing constant to the time your application
requires to transition to the worst case preset speed. When
modes are changed dynamically, the change to the control loops
are immediate. Care must be used so speed/torque limits do not
exceed application requirements.
IMPORTANT
To avoid large speed changes when switching modes, be sure to set the
S-curve Smoothing constant to the time your application requires to
transition to the worst case preset speed. When modes are changed
dynamically, the change to the control loops are immediate. Care must
be used so speed/torque limits do not exceed application
requirements.
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