AMD2000 Series - Servo Drive - User Manual
140
DS619-0-00-0019 - Rev 0
ANCA Motion
4: Position control using feedback 2 (external encoder).
The list of operating modes supported by the drive can also be accessed via IDN S-0-0292 / 292 (List of
Supported Operation Modes).
Pre-
assigning “setpoint sources”
Each ‘mode slot’ of the drive can be assigned a value for its associated setpoint source, which is the data
supplied to the controller for subsequent servo-control tracking. NC Command Source (P-0-0531 / 33299) is an
IDN array of 8 elements, one for each of the 8 ‘mode slots.’ The correspondence is in ascending order, so the
first array element corresponds with the primary operation mode, the second element with the 1st of the 7
secondary operation modes, and so on. Each element can be filled with one of the following 3 values depending
on which is the m
ost appropriate source for setpoint information for the corresponding ‘mode slot’;
0: NC setpoints, available over EtherCAT communications,
1: Analog setpoints, available from analog inputs, or
2: Encoder input setpoints, from the appropriate encoder.
Master Control Word
Bits 11, 9 and 8 of the IDN S-0-0134 / 134 Master Control Word determine which of the operation modes is
active. To operate the drive, Bit 15, 14, and 13 must all be set to 1, and this is usually undertaken as part of the
start-up and enable sequence in the drive.
Bit 15
: Drive on/off
0 drive off
1 drive on
Bit 14
: Enable drive
0 not enabled
1 enabled
Bit 13
: Halt/restart drive
Halt drive when changing from 1 to 0, restart drive when
changing from 0 to 1
Bit 12
: Reserved
Bit 11, 9-8
: Operation mode
000 Primary Operation Mode
001 Secondary Operation Mode 1
010 Secondary Operation Mode 2
011 Secondary Operation Mode 3
100 Secondary Operation Mode 4
101 Secondary Operation Mode 5
110 Secondary Operation Mode 6
111 Secondary Operation Mode 7
Bit 10
: Control unit synchronization bit
Bit 7 - 0
: Reserved
The technical data pack accompanying the AMD2000, or the appropriate online resources for the same, should
include the “Digital Servo Drive SoE Parameter Reference” (dd_reference_SoE_parameter.pdf
)
contains details
concerning setting other bits in the Master Control Word.
Drive Status Word
Bits 10, 9 and 8 of the IDN S-0-0135 / 135 Drive
Status Word reflect the currently active operation mode or ‘mode
slot’ being used by the drive. This can be queried by external systems to assess the current operation mode of
the drive.
