Starting and Changing an Operating Mode

Starting the Operating Mode

The desired operating mode is set via the Sercos controller. Refer to the user guide of your Sercos controller for more details.

Changing the Operating Mode

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.

Cyclic Synchronous Torque
Cyclic Synchronous Velocity
Cyclic 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
Cyclic Synchronous Torque	If you change from Jog: 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: 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: 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 Stopping 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.