OD_3202_00 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: movement
Access read / write
PDO mapping RX-PDO

Description

  • Bit 0: Open Loop / Closed Loop
    • Value = "0": open loop
    • Value = "1": closed loop
    Changeover between open loop and closed loop. Toggling is not possible in the Operation enabled state.
  • Bit 1: Velocity over Speed
    • Value = "0": Velocity control
    • Value = "1": Position control

    Simulate V-controller with an S-ramp (position control): simulate the speed modes through continuous position changes

  • Bit 2: Automatic Brake Control
    • Value = "0": Off
    • Value = "1": On
    Switching on automatic brake control if brake output/brake present
  • Bit 3: Current Reduction
    • Value = "0": Off
    • Value = "1": On
    Activating current reduction while at a standstill in open loop operating mode. This remains activated since the version FIR-v2213, as long as the objects 2036h and 2037h are not both set to "0".
  • Bit 4: Auto Alignment
    • Value = "0": Off
    • Value = "1": On

    The auto alignment process is activated: Immediately after switching on, an alignment is determined in open loop and a switch is immediately made to closed loop mode without the encoder index having been seen. The rotor is moved slightly during this process.

    No auto alignment: The motor operates in open loop until the encoder index is seen (maximum one revolution of the motor shaft).

    If the incremental encoder used for commutation does not have an index (bit 0 in 33A0h is "0"), an auto alignment is always determined.

  • Bit 5: Real Torque Mode
    • Value = "0": Off
    • Value = "1": On
    Value = "1": M-controller (current controller) is active. Otherwise a V-controller (velocity controller) is superimposed: no V-controller is used in the torque modes for speed limiting, thus object 6080h is ignored; 3210h:3 and 3210h:4 have no effect on the control.
  • Bit 6: Motor Type
    • Value = "0": Stepper motor
    • Value = "1": BLDC
  • Bit 7: Slow Speed
    • Value = "0": Off
    • Value = "1": On
    Activates the slow speed operating mode (closed loop must already be activated).