
IL•1F CANopen DS301 | 3 Basics |
Operating modes – modeCtrl
In PDO mode, the operating modes are controlled via object modeCtrl. The master must enter the following values to activate an operating mode or to change reference values:
•Reference values in fields "Ref16" and "Ref32"
•Select operating mode with modeCtrl, Bits 0 ... 2 (MODE)
•Select action for this operating mode with modeCtrl, bits 4 ... 6 (ACTION)
•Toggle modeCtrl, bit 7 (MT)
The following table shows the possible operating modes and the corre- sponding reference values:
Mode bits |
| Action | modeCtrl | Description | Corre- | Reference value Ref16 | Reference | |
0... 2 |
| bits 4 ... | 1). Bits 0 |
| sponds to |
| value Ref32 | |
|
| 6 | ... 6 |
| object 2) |
|
| |
1 | (JOG) | 0 | 01h | Jog | 41:3 | Start (as object 41:1) | - | |
|
|
|
|
|
|
|
|
|
2 | (REF) | 0 | 02h | Position setting | 40:3 | - | Position for posi- | |
|
|
|
|
|
|
|
| tion setting |
|
|
|
|
|
|
|
|
|
|
| 1 | 12h | Reference movement | 40:1 | Type (as object 40:1) | - | |
|
|
|
|
|
|
|
| |
3 | (PTP) | 0 | 03h | Absolute positioning | 35:1 | Reference speed | Reference posi- | |
|
|
|
|
|
|
|
| tion |
|
|
|
|
|
|
|
|
|
|
| 1 | 13h | Relative positioning | 35:3 | Reference speed | Reference posi- | |
|
|
|
|
|
|
|
| tion |
|
|
|
|
|
|
|
|
|
|
| 2 | 23h | Continue positioning | 35:4 | Reference speed | - | |
|
|
|
|
|
|
|
| |
4 | (VEL) | 0 | 04h | Profile Velocity | 36:1 | Reference speed | - | |
|
|
|
|
|
|
|
|
|
1)Column corresponds to the value to be entered in byte modeCtrl, but without ModeToggle (bit 7)
2)Column shows Index:Subindex (decimal) of the corressponding operating mode objects modes which are described in more detail in the device documentation.
0198441113586, V2.01, 11.2008
Fieldbus interface | 37 |