Hiwin D1COE, User Manual

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Drive User Guide
24
9. Drive’s Mode of Operation
Drive will operate based on the operational mode set up by the upper controller. Supportable
modes are listed as follows:
- Profile Position mode
- Homing mode
- Profile Velocity mode
- Profile Torque mode
- Cyclic Synchronization Position mode
- Cyclic Synchronization Velocity mode
- Cyclic Synchronization Torque mode
The list below shown the objects relevant to the operational mode:
Index Sub-index Description Type Access Value PDO mapping
0x6060 0x00 Operational Mode INT8 RW
－
O
0x6061 0x00 Current Operational Mode INT8 RO
－
O
0x6502 0x00 Supportable Operational Mode UINT32 RO
－
X
The operational mode may switch by changing the content of object 0x6060 and read the content
of object 0x6061 to confirm the current operational mode of drive. The chart below shown the set up
value of object 0x6060 and the mode represented:
Operational Mode Set up Value of 0x6060
Profile Position mode 1
Profile Velocity mode 3
Profile Torque mode 4
Homing mode 6
Cyclic Synchronous Position mode 8
Cyclic Synchronous Velocity mode 9
Cyclic Synchronous Torque mode 10
9.1 Position Control Mode
9.1.1 Profile Position Mode (PP)
Profile position mode is the planning velocity, acceleration, deceleration and target position
transmitted by the master station to drive. Through the internal route planner generating the motion
command and then through the position loop, velocity loop and current loop, finally output the current
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