Software Setup 5-9
Note 2: Command Mode Table
Cmd
Mode
Class
Description
0
None
All
No mode selected. Output stage of control
remains off or disabled (voltage and current
removed from the motor), regardless of Run Cmd
condition.
1
Torque CMD
selected
source
S, V
Closes the current loop with command input from
the source selected in the COMMAND SELECT
parameter.
2
Torque CMD
network
S, V
Closes the current loop with command input from
the Torque Ref. register.
3
Speed CMD
selected
source
All
Closes the velocity loop with command input from
the source selected in the COMMAND SELECT
parameter.
4
Speed CMD
network
All
Closes the velocity loop with command input from
the Speed Ref. register.
5
Orient
S, V*
C or Index channel orient. The motor will be
commanded in the Fwd direction at the predefined
homing speed until the index pulse is detected.
The motor will then be commanded to hold position
at the predefined home offset.
6
Position
CMD ABS
S,V*
Closes the position loop with an absolute position
command from the Position Ref. register.
7
Position
CMD INC
S, V*
Closes the position loop with an incremental
position command from the Position Ref. register.
8
Reserved for future use.
9
Position
CMD
external
S, V*
Closes the position loop with command input from
external option source (e.g. pulse follower exb).
10
Reserved for future use.
11
Process
Torque
All
Closes the torque process control loop.
Commands come from the appropriate command
input parameters.
12
Process
Velocity
All
Closes the velocity process control loop.
Commands come from the appropriate command
input parameters.
13
Auto Tune
E,S,V
Changes command mode to Auto Tune. Test
conditions are controlled by Auto Tune Mode.
Summary of Contents for Modbus Plus
Page 3: ...ii Table of Contents ...
Page 9: ...2 2 Description ...
Page 15: ...3 6 Installation ...
Page 21: ...4 6 Hardware Setup ...