PD4-E 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
  • PD4-E591L42-E-65-2: 00000001h
  • PD4-E601L42-E-65-2: 00000001h
  • PD4-EB59CD-E-65-2: 00000041h
  • PD4-EB60SD-E-65-2: 00000041h
  • PD4-EB59CD-EB-65-2: 00000045h
  • PD4-E591L42-EB-65-2: 00000005h
  • PD4-EB59MB-E-65-2: 00000041h
  • PxA56S-E-2-xxBN-xxx: 00000001h
  • PxA56S-E-2-xxCA-xxx: 00000001h
  • PxA56S-E-2-xxGA-xxx: 00000001h
  • PxA56S-E-2-xxKE-xxx: 00000001h
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
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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