3202h Motor Drive Submode Select Function Controls the controller mode, such as the changeover between closed-loop / open-loop and whether Velocity Mode is simulated via the S-controller or functions with a real V-controller in closed loop. Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: motor Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel". Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement". Firmware version FIR-v2451-B1068465: entry "Savable" changed from "yes, category: drive" to "yes, category: motor". Description CL/OL Changeover between open-loop and closed-loop (see chapter Control modes) Value = "0": open-loop Value = "1": closed loop Toggling is not possible in the Operation enabled state. VoP Value = "1": Simulate V-controller with a P-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value = "1": M-controller is active, otherwise a V-controller is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; the 321Bh Velocity Controller Parameters have no effect on the control. BLDC Value = "1": Motor type "BLDC" (brushless DC motor)
3202h Motor Drive Submode Select Function Controls the controller mode, such as the changeover between closed-loop / open-loop and whether Velocity Mode is simulated via the S-controller or functions with a real V-controller in closed loop. Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: motor Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel". Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement". Firmware version FIR-v2451-B1068465: entry "Savable" changed from "yes, category: drive" to "yes, category: motor". Description CL/OL Changeover between open-loop and closed-loop (see chapter Control modes) Value = "0": open-loop Value = "1": closed loop Toggling is not possible in the Operation enabled state. VoP Value = "1": Simulate V-controller with a P-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value = "1": M-controller is active, otherwise a V-controller is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; the 321Bh Velocity Controller Parameters have no effect on the control. BLDC Value = "1": Motor type "BLDC" (brushless DC motor)
Function Controls the controller mode, such as the changeover between closed-loop / open-loop and whether Velocity Mode is simulated via the S-controller or functions with a real V-controller in closed loop.
Object description Index 3202h Object name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Savable yes, category: motor Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel". Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement". Firmware version FIR-v2451-B1068465: entry "Savable" changed from "yes, category: drive" to "yes, category: motor".
Description CL/OL Changeover between open-loop and closed-loop (see chapter Control modes) Value = "0": open-loop Value = "1": closed loop Toggling is not possible in the Operation enabled state. VoP Value = "1": Simulate V-controller with a P-ramp: simulate the speed modes through continuous position changes Brake Value = "1": Switch on automatic brake control. Torque only active in operating modes Profile Torque and Cyclic Synchronous Torque Value = "1": M-controller is active, otherwise a V-controller is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; the 321Bh Velocity Controller Parameters have no effect on the control. BLDC Value = "1": Motor type "BLDC" (brushless DC motor)
