Difference between revisions of "OperationalModes"
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| − | HOLD <axis> | + | HOLD <axis> {HoldType = <value>} |
</pre> | </pre> | ||
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| + | {| border="1" cellpadding="20" cellspacing="0" | ||
| + | |+ | ||
| + | |Mode: || Stop || Hold | ||
| + | |- | ||
| + | |Position || Regular || calls STOP | ||
| + | |- | ||
| + | |Position || Regular || calls STOP | ||
| + | |- | ||
| + | |Position || first switches into velocityMode with vcmd = vfb <br> then executes motion profile from the vcmd to 0 according the given StopType || HoldTyepe = 0 immediately brakes TORQUE command and sets TCMD = 0<br> HoldTyepe = 1 immediately brakes TORQUE command and keeps tha lst value of TCMD | ||
| + | |} | ||
==Limitations and side effects== | ==Limitations and side effects== | ||
Revision as of 11:14, 21 December 2011
Axystems:Template:Temporary-Specification
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.
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.
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: | Stop | Hold |
| Position | Regular | calls STOP |
| Position | Regular | calls STOP |
| Position | first switches into velocityMode with vcmd = vfb then executes motion profile from the vcmd to 0 according the given StopType |
HoldTyepe = 0 immediately brakes TORQUE command and sets TCMD = 0 HoldTyepe = 1 immediately brakes TORQUE command and keeps tha lst value of TCMD |
Limitations and side effects
 | NOTE |
| Opmode changes are allowed in disabled drive state only. |
| NOTE |
If an axis belongs to a group it's opmode can not be changed separately.This means:
|
| NOTE |
| 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. |
| NOTE |
| TORQUE <axis> command is affecting PCMD, VCMD, TADDCMD values of the axis (their values are kept unchanged).Only the TCMD is interpolated. |
| NOTE |
| We assume dirves 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: |
| NOTE |
| 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. |
See also:
