LXM32M | 6 Operation |
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6.2.2Starting and changing an operating mode
Bits 0 ... 7 in the word "dmControl" are used to set the operating mode.
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| dmControl |
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| 15 | 14 |
| 13 | 12 | 11 |
| 10 | 9 | 8 |
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| CU | CH |
| SH | - | FR |
| QS | EN | DS |
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| 7 | 6 |
| 5 | 4 | 3 |
| 2 | 1 | 0 |
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| MT | ACTION | ACTION | MODE | MODE |
| MODE | MODE | MODE |
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Figure 10: Structure dmControl bits 0 ... 7 |
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Bit |
| Name | Description |
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0 ... 4 |
| MODE | Operating mode |
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| Value 01h: Profile Position |
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| Value 03h: Profile Velocity |
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| Value 04h: Profile Torque |
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| Value 06h: Homing |
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| Value 1Fh: Jog |
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| Value 1Eh: Electronic Gear |
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| Value 1Dh: Motion Sequence |
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5 ... 6 |
| ACTION | Operating |
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7 |
| MT |
| Handshake via Mode Toggle |
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The operating modes can be changed during operation. For this pur- pose, the current process must be completed or explicitly canceled. The motor must be at a standstill.
The master must enter the following values to activate an operating mode or to change reference values:
•Reference values, depending on desired operating mode
•Operating mode in "dmControl", bits 0 ... 4 (MODE).
•Action for this operating mode in bit 5 and bit 6 (ACTION)
•Toggle bit 7 (MT)
The following chapters describe the possible operating modes, func- tions and the corresponding reference values.
0198441113843, V1.01, 01.2012
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