Difference between revisions of "SERCOS Operation Modes"
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| − | = | + | = SERCOS Operation Modes= |
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| + | == SERCOS IDN's== | ||
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|IDN || Description | |IDN || Description | ||
| + | |- | ||
|S-0-0032 ||Primary operation mode | |S-0-0032 ||Primary operation mode | ||
| + | |- | ||
|S-0-0033 || Secondary operation mode 1 | |S-0-0033 || Secondary operation mode 1 | ||
| + | |- | ||
|S-0-0034 || Secondary operation mode 2 | |S-0-0034 || Secondary operation mode 2 | ||
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|S-0-0521 || Axis status word | |S-0-0521 || Axis status word | ||
|} | |} | ||
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| + | |||
| + | ==Table 44 - Structure of drive operation modes== | ||
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|1 ||xx xxx ||x ||x ||xxxx ||x ||xxx ||Operation mode (bits 14-0) defined by manufacturer | |1 ||xx xxx ||x ||x ||xxxx ||x ||xxx ||Operation mode (bits 14-0) defined by manufacturer | ||
|- | |- | ||
| − | |0 ||000 00 ||0 ||0 ||0000 ||x ||000 ||No operation mode defined | + | |0 ||000 00 ||0 ||0 ||0000 ||x ||style="background: red; color: white" |000 ||No operation mode defined |
|- | |- | ||
| − | |0 ||000 00 ||0 ||0 ||0000 ||x ||001 ||Torque/Force control | + | |0 ||000 00 ||0 ||0 ||0000 ||x ||style="background: red; color: white" |001 ||Torque/Force control |
|- | |- | ||
| − | |0 ||000 00 ||0 ||0 ||0000 ||x ||010 ||Velocity control | + | |0 ||000 00 ||0 ||0 ||0000 ||x ||style="background: red; color: white" |010 ||Velocity control |
|- | |- | ||
| − | |0 ||000 00 ||0 ||0/1|| 0000 ||0/1 ||011 ||Position control using position feedback value 1 | + | |0 ||000 00 ||0 ||0/1|| 0000 ||0/1 ||style="background: red; color: white" |011 ||Position control using position feedback value 1 |
|- | |- | ||
|0 ||000 00 ||0 ||0/1 ||0000 ||0/1 ||100 ||Position control using position feedback value 2 | |0 ||000 00 ||0 ||0/1 ||0000 ||0/1 ||100 ||Position control using position feedback value 2 | ||
Revision as of 09:11, 10 November 2011
SERCOS Operation Modes
SERCOS IDN's
| IDN | Description |
| S-0-0032 | Primary operation mode |
| S-0-0033 | Secondary operation mode 1 |
| S-0-0034 | Secondary operation mode 2 |
| S-0-0035 | Secondary operation mode 3 |
| S-0-0284 | Secondary operation mode 4 |
| S-0-0285 | Secondary operation mode 5 |
| S-0-0286 | Secondary operation mode 6 |
| S-0-0287 | Secondary operation mode 7 |
| S-0-0292 | List of supported operation modes |
| S-0-0520 | Axis control word |
| S-0-0521 | Axis status word |
Table 44 - Structure of drive operation modes
| 1= manufacturer operation mode
0= SERCOS operation mode |
reserved | 0= without axis control word
1= with axis control word (S-0-0520) |
0= without transition support
1= with transition support |
Expanded operation modes | 0= with following error
1= without following error |
Basic operation modes | Operation modes |
| 15 | 14 - 10 | 9 | 8 | 7 - 4 | 3 | 2 1 0 | Bit number |
| 1 | xx xxx | x | x | xxxx | x | xxx | Operation mode (bits 14-0) defined by manufacturer |
| 0 | 000 00 | 0 | 0 | 0000 | x | 000 | No operation mode defined |
| 0 | 000 00 | 0 | 0 | 0000 | x | 001 | Torque/Force control |
| 0 | 000 00 | 0 | 0 | 0000 | x | 010 | Velocity control |
| 0 | 000 00 | 0 | 0/1 | 0000 | 0/1 | 011 | Position control using position feedback value 1 |
| 0 | 000 00 | 0 | 0/1 | 0000 | 0/1 | 100 | Position control using position feedback value 2 |
| 0 | 000 00 | 0 | 0/1 | 0000 | 0/1 | 101 | Position control using position feedback values 1 and 2 |
| 0 | 000 00 | 1 | 0 | 0000 | x | 101 | Position control using axis control word |
| 0 | 000 00 | 0 | 0 | 0000 | 0 | 110 | Pressure control |
| 0 | 000 00 | 0 | 0 | 0000 | x | 111 | Operation mode without control loops |
| 0 | 000 00 | 0 | 0/1 | 0001 | 0/1 | 011 | Interpolation using position feedback value 1 |
| 0 | 000 00 | 0 | 0/1 | 0001 | 0/1 | 100 | Interpolation using position feedback value 2 |
| 0 | 000 00 | 0 | 0/1 | 0001 | 0/1 | 101 | Interpolation using position feedback values 1 and 2 |
| 0 | 000 00 | 1 | 0 | 0001 | x | 101 | Interpolation using axis control word |
| 0 | 000 00 | 0 | 0/1 | 0010 | 0/1 | 011 | Positioning using position feedback value 1 |
| 0 | 000 00 | 0 | 0/1 | 0010 | 0/1 | 100 | Positioning using position feedback value 2 |
| 0 | 000 00 | 0 | 0/1 | 0010 | 0/1 | 101 | Positioning using position feedback values 1 and 2 |
| 0 | 000 00 | 1 | 0 | 0010 | x | 101 | Positioning using axis control word |
| 0 | 000 00 | 0 | 0/1 | 0011 | 0/1 | 011 | Block mode using position feedback value 1 |
| 0 | 000 00 | 0 | 0/1 | 0011 | 0/1 | 100 | Block mode using position feedback value 2 |