14.2 Modes of Operation
The SERVOPACK supports the following modes of operation:
n PROFIdrive Profile Position mode
n PROFIdrive Profile Velocity mode
n Profile Torque Mode
n Pole Detection mode
Index
(hex)
PNU (dec)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
6060h 0 B18 Modes of Operation RW RPZD 0 (no operation mode) – INT
6061h 0 B19 Modes of Operation Dis-
play
RO TPZD – – INT
930 0 – PROFIdrive Operating
Mode
RO No – – UINT
The operation mode can be switched by writing the object 6060h. The master has the
responsibility to update all operation mode specific process data objects together with the
selection of the operation mode at the same time.
If the master selects a new operation mode, the SERVOPACK changes to the new opera-
tion mode immediately.
The following table shows the behavior when changing to a new operation mode from the
other mode.
New Operation Mode Behavior when Changing to a New Operation Mode
PROFIdrive Position mode Active operation mode: PROFIdrive velocity mode
n Operation mode is changed, but motor will be
stopped with configured profile deceleration (6084h).
A new positioning can only be started when the
motor has come to a standstill. Then the positioning
can be started with rising edge of STW1 bit 6 (Acti-
vate Traversing Task).
Active operation mode: Profile Torque Mode
n Motor will decelerate with configured torque slope
(6087h). A new positioning can only be started when
the motor has come to a standstill. Then the posi-
tioning can be started with rising edge of STW1 bit 6
(Activate Traversing Task).
PROFIdrive velocity mode New operation mode will be started immediately.
Profile Torque Mode New operation mode will be started immediately.
Related Objects
Dynamic Mode Change
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
Modes of Operation
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 501
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