NP5 CANopen Online Manual

3202h 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: drive
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Firmware version FIR-v1426
Change history

Firmware version FIR-v1540: "Savable" entry changed from "yes category: application" to "yes, category: travel".

Firmware version FIR-v1540: "Savable" entry changed from "yes category: travel" to "yes, category: movement".

Description

CL/OL

Changeover between open loop and closed loop (see chapter Control modes)

  • Value = "0": open loop
  • Value = "1": closed loop

Toggling is not possible in the Operation enabled state.

VoS
Value = "1": Simulate V-controller with an S-ramp: simulate the speed modes through continuous position changes
Brake
Value = "1": Switch on automatic brake control.
CurRed (Current Reduction)
Value = "1": Current reduction activated in open loop
AutoAl ( auto alignment)
For the case that operation in closed loop is required (bit 0 in 3202h is set).

Value = "1": 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.

Value = "0": 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.

Torque

only active in operating modes Profile Torque and Cyclic Synchronous Torque

Value = "1": M-controller is active, otherwise a V-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.

BLDC
Value = "1": Motor type "BLDC" (brushless DC motor)
Slow ( slow speed)
Value = "1": The slow speed mode is activated ( closed loop must already be activated)
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