Starting and Changing an Operating Mode
The desired operating mode is set via the Sercos controller. Refer to the user guide of your Sercos controller for more details.
The operating mode can be changed after the active operating mode has been terminated.
In addition, it is also possible to change the operating mode during a running movement; however, this is only possible in certain operating modes.
Changing the Operating Mode During a Movement
You can switch between the following operating modes during a running movement.
oJog
oProfile Torque
oCyclic Synchronous Torque
oCyclic Synchronous Velocity
oCyclic Synchronous Position
The operating mode can be changed while the motor is at a standstill or while the motor is not at a standstill, depending on the new operating mode.
|
Operating mode to be changed to |
Motor standstill |
|---|---|
|
Jog |
With motor standstill |
|
Profile Torque |
Without motor standstill |
|
Cyclic Synchronous Torque |
If you change from Jog or Profile Torque: With motor standstill If you change from Cyclic Synchronous Velocity or Cyclic Synchronous Position: Without motor standstill |
|
Cyclic Synchronous Velocity |
If you change from Jog or Profile Torque: With motor standstill If you change from Cyclic Synchronous Torque or Cyclic Synchronous Position: Without motor standstill |
|
Cyclic Synchronous Position |
If you change from Jog or Profile Torque: With motor standstill If you change from Cyclic Synchronous Torque or Cyclic Synchronous Velocity: Without motor standstill |
The motor is decelerated to a standstill via the ramp set in the parameter LIM_HaltReaction, see chapter Stop Movement with Halt.
NOTE: The change of the operating mode during a movement depends also on the functionality of the Sercos controller. Refer to the user guide of your Sercos controller for more details.
