Difference between revisions of "OperationalModes"
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:Slave that is in TORQUEMODE continues to be slaved affecting only its PCMD and VCMD values.<br> | :Slave that is in TORQUEMODE continues to be slaved affecting only its PCMD and VCMD values.<br> | ||
| − | ==See | + | ==See Also == |
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Revision as of 10:15, 27 April 2014
Contents
Enabling user working in different operation modes of the drive
User selects the operation-mode using the OpMode command.
<''axis''>.OpMode = {POSITIONMODE|VELOCITYMODE|TORQUEMODE}
Command will change the drive (and axis!) opmode to the given value using the opmode bits of the SERCOS drive status word.
- Default state is POSITIONMODE (as today). All the standard deviation thresholds are checked: pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.
- In VELOCITYMODE axis will NOT check position-error, but will check: vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.
- In TORQUEMODE axis will NOT check position-error or acceleration max, but will check: vfb < vospd, te < terrmax and tcmd < tmax.
- In Master-Slave - if the master or the slave is in TORQUEMODE or VELOCITYMODE - SLAVEDEVIATION value is NOT checked.
Torque Interpolation
New torque interpolation command will be implemented:
TORQUE <''axis''> tfinal
- This command interpolate the tcmd from its initial value to the given tfinal according to the profile parameters defined.
- In case TORQUE command is issued in POSITIONMODE or in VELOCITYMODE a note will be thrown and the TORQUE command will continue as usual interpolating TCMD (with probably no effects - as the drive is not in TORQUEMODE).
Stopping
- STOP command in TORQUEMODE mode will forcibly switch drive opmode to VELOCTYMODE producing the deceleration profile from the current VFB value t zero. The same behavior will be implemend for both user-entred stop command and the system-generated stop commands like: velocity-over speed error, tcmd > tmax, te>temax.
- New command HOLD <axis> will cause axis to stop interpolating torque. New property <axis>.HoldType will give the user option to select between keeping the stopped TCMD value or reducing it to zero. In bot cases the original TORQUEMODE will be not changed.
HOLD <''axis''> {HoldType = <''value''>}
| Mode: | |
|
| Position | |
HoldType value ignored! |
| Velocity | |
HoldType value ignored! |
| Torque | first switches into velocityMode with vcmd = vfb then executes motion profile from the vcmd to 0 according the given StopType |
HoldTyepe = 0 immediately(no profile) brakes TORQUE command and sets TCMD = 0 HoldTyepe = 1 immediately(no profile) brakes TORQUE command and keeps tha last value of TCMD |
Limitations and Side Effects
- Opmode changes are allowed in disabled drive state only.
- If an axis belongs to a group its opmode can not be changed separately.This means:
- opmode change is not allowed if an axis belongs to an attached group
- a group can not be attached (implicitly or explicitly) if it consist of axes with different opmodes.
- MOVE <axis> and JOG <axis> commands are producing PCMD,VCMDand TADDCMD (if DynamicModel is turned on). The TCMD value during these types of motion remains unchanged.
- [Axystems:MC-Basic:TORQUE|TORQUE <axis>]] command is affecting PCMD, VCMD, TADDCMD values of the axis (their values are kept unchanged).Only the TCMD is interpolated.
- It is assumed that the drive adds the TCMD(IDN80) and TADDCMD(IDN81) in all OPMODEs. In case it is not so <axis>.SumTorque=1 will cause the value of TADDCMD to be added to TCMD:
- TORQUEMODE of an axis is not influencing camming/gearing operation.
- The interpolated torque values of a master axis will be NOT transferred to slave axes.
- Slave that is in TORQUEMODE continues to be slaved affecting only its PCMD and VCMD values.