3.1.8.2 Modes of Operation
SOMANET supports different modes of operation that either utilize a trajectory controller on the slave (e.g.
profile modes) or get their trajectories from a master and cyclically decrease the difference between target
and actual values (cyclic modes). Additionally, Homing modes are available to move the axis to a specific
position.
Cyclic modes: In cyclic synchronous modes the trajectory must be computed by the master.
Cyclic synchronous torque control (CST): In torque control mode the master sends desired torques to
the drive.
Cyclic synchronous velocity control (CSV): In velocity control modes the master sends desired velocities
to the drive.
Cyclic synchronous position control (CSP): In position control modes the master sends desired positions
to the drive.
Profile modes: In profile modes, the trajectory is computed on the slave.
Profile position mode: In profile position mode the trajectory to a target point is generated on the drive.
Profile velocity mode: In profile velocity mode the motor will rotate at a target velocity.
Profile torque mode: In profile torque mode the drive sends a target torque to the motor.
Homing modes: Homing can be used to center an axis on its current position or to move to an index pulse of
the encoder.
Quick stop: Stops the motor quickly in a controlled way.
Diagnostics opmode: Used for triggering diagnostic OS commands.
Switching modes: The modes are called by using Object 0x6060.
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