This parameter is composed of a set of indicating which elements are enabled in motion:
|
Bit number |
15 |
... |
9 |
8 |
7 |
6 ... 4 |
3 ... 0
|
|---|---|---|---|---|---|---|---|
|
|
Reserved |
Homing |
PTP Buffer
|
Profiler Mode |
Standard operation modes |
||
Standard operation modes bits
Those bits allow selecting the desired mode of operation as a base of the movement.
|
Value |
Standard operation modes |
|---|---|
|
0 |
Voltage |
|
1 |
Current amplifier |
|
2 |
Current |
|
3 |
Velocity mode |
|
4 |
Position mode |
|
5 |
Torque mode |
Profiler mode bits
The supported profiler modes are the following. These will be explained below.
|
Value |
Profiler modes |
|---|---|
|
0 |
No profiler |
|
1 |
Trapezoidal profiler |
|
2 |
Linear interpolator |
|
3 |
5th degree polynomial PVT |
|
4 |
S-Curve without jerk control |
Operation modes
Only velocity and position modes are compatible with profiler, except with linear interpolation mode, where quadrature current is supported.
When either the operation mode or the option bits are changed, the profiler in process is cancelled and reconfigured.
For variations of these basic modes, further options can be signaled in this register. The allowed combinations are the following.
|
Name |
Homing bit |
PTP buffer bit |
Profiler mode value |
Standard operation mode |
Value |
|---|---|---|---|---|---|
|
Profile position |
0 |
0 |
1 |
4 |
0x14 |
|
Profile position S-curve |
0 |
0 |
4 |
4 |
0x44 |
|
Cyclic synchronous position |
0 |
0 |
2 |
4 |
0x24 |
|
Interpolated position |
0 |
1 |
2 |
4 |
0xA4 |
|
Buffered PVT |
0 |
1 |
3 |
4 |
0xB4 |
|
Profile velocity |
0 |
0 |
1 |
3 |
0x13 |
|
Cyclic synchronous velocity |
0 |
0 |
2 |
3 |
0x23 |
|
Cyclic synchronous current |
0 |
0 |
2 |
2 |
0x22 |
|
Homing |
1 |
0 |
1 |
3 |
0x113 |
|
Cyclic synchronous torque |
0 |
0 |
2 |
5 |
0x25 |