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OPMODE Parameter (S300-S700)

ASCII - Command OPMODE    
Syntax Transmit OPMODE [Data]    
Syntax Receive OPMODE <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer8   CANBus Object Number 35B4 (hex)
DIM -   PROFIBUS PNU 1780 (dec) IND = 1 (dec)
Range 0, 1, .. , 8   DPR 180 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer8
Drive State -   Weighting  
Start Firmware 1.0    
Configuration No   Last Change of this Object 1.0
Function Group control commands   EEPROM Yes
Short Description Operating Mode

Description

The OPMODE command is used to set the operating mode (basic function) for the amplifier. This operating mode can be changed over at any time, through the fieldbus interface or the digital I/O (INxMODE=24).
The following settings are possible:
Status Short Description Description
OPMODE=0 Velocity control -digital command Digital (rotational) velocity
There are different possibilities to generate a velocity command:
- RS232 Interface ("J" command)
- Fieldbus Interface (PROFIBUS, CANopen, SERCOS, DPR Slot boards)
OPMODE=1 Velocity control -analog command Analog (rotational) velocity
The velocity setpoint is generated by the Analog In s 1/2. The configuration is done with ANCNFG and INxMODE=8.
OPMODE=2 Current control -digital command Digital torque
The current setpoint can be generated by:
- RS232 Interface ("T" command)
- Fieldbus Interface (PROFIBUS, CANopen, SERCOS, DPR Slot boards)
OPMODE=3 Current control -analog command Analog torque
The current command is generated by the Analog In s 1/2. The configuration is done with ANCNFG and INxMODE=8.
OPMODE=4 Electronic Gearing (Master/Slave) Position: electr. gearing
The target position is generated by an extrenal encoder. The type of the activated interface is selected by GEARMODE.
OPMODE=5 External Trajectory Position: ext. position nodes
The target position is generated by fieldbus (PROFIBUS, CANopen or DRP Slot board). The cycle time for writing the new position can be selected with the command PTBASE in 250µs steps. The position controller brings the actual position to the new target postion in the selected time.
When using ANCNFG=8, the target position is given by the Analog In 1. The analog voltage is read every 250µs and is used as target position for the position controller. The scaling of the anlog input voltage is done with SRND and ERND. Before this function is active, a homing move has to completed.
OPMODE=6 SERCOS control SERCOS control
OPMODE=7 Reserved  
OPMODE=8 Motion Tasks Position: motion blocks
This setting allows the starting of motion tasks and also the homing moves.