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0x2014 - Operation mode

Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x2014

0x00

Operation mode

UINT16

RW

Yes

Yes

Data type

0

-

This register modifies the current operation mode. 

This parameter is composed of a set of indicating which elements are enabled in motion:

Bit number

15

...9876 ... 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

2Current
3Velocity mode
4Position mode
5Torque 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

2Linear interpolator
35th degree polynomial PVT
4S-Curve without jerk control

Operation modes

Note

Only velocity and position modes are compatible with profiler, except with linear interpolation mode, where quadrature current is supported.


Note

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.

NameHoming bitPTP buffer bitProfiler mode valueStandard operation modeValue
Profile position00140x14

Profile position S-curve

00440x44
Cyclic synchronous position00240x24
Interpolated position01240xA4
Buffered PVT01340xB4
Profile velocity00130x13
Cyclic synchronous velocity00230x23
Cyclic synchronous current00220x22
Homing10130x113
Cyclic synchronous torque00250x25
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