Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
139
10
10.1.23
Operating Modes
Description
The AMD2000 supports the SoE profile for Numerical Control (NC) of a drive. The profile allows for the pre-
setting of up
to 8 operation modes for the drive. Each of these 8 modes, or ‘mode slots’, can be configured for a
particular drive mode of operation (e.g. position control).
The AMD2000 supports up to 4 possible drive modes of operation to assign to any, or all, of these 8 available
‘mode slots’, namely:
The position control drive mode, and this can be split into either motor or external encoder feedback
modes,
The velocity control drive mode,
The torque control drive mode, and
The mode of “no selected drive mode of operation.”
The preceding 4 particular “drive modes of operation” can be pre-assigned by value to each ‘mode slot’ in the
profile (see specific details below). When the drive is in operation, the user or external entity can then select into
which mode they wish to place the drive by setting 3 bits in the Master Control Word to select from the 8
operation modes or ‘slots’. These bits select which ‘mode slot’ the drive must query for determining its current
“drive mode of operation,” thus allowing it to quickly transition from one form of position control to another, or
from velocity to torque control, etc. Note that this can be done “on the fly” while the drive is enabled and even
moving, and usually within one scan at the default 4 ms scan rate. Transitions in mode while in motion are not
generally recommended.
Warning:
Switching between operating modes (‘mode slots’) while in motion should ONLY be done with
care, as unexpected motions can result.
In addition to the drive modes of operation being assigned, it is also possible to pre-assign the source of control
set point
data to be used for each ‘mode slot’. Up to three different sources of data are available, including NC
input, analog input, or encoder input from the appropriate encoder channel. Details concerning the entire setup
follow below, with a table of all the IDN’s available for configuration listed immediately below.
IDN
Label
S-0-0134 / 134
Master Control Word
S-0-0135 / 135
Drive Status Word
S-0-0032 / 32
Primary Operation Mode
S-0-0033 / 33
Secondary Operation Mode 1
S-0-0034 / 34
Secondary Operation Mode 2
S-0-0035 / 35
Secondary Operation Mode 3
S-0-0284 / 284
Secondary Operation Mode 4
S-0-0285 / 285
Secondary Operation Mode 5
S-0-0286 / 286
Secondary Operation Mode 6
S-0-0287 / 287
Secondary Operation Mode 7
P-0-0531 / 33299
NC Command Source
S-0-0043 / 43
Velocity polarity configuration
S-0-0055 / 55
Position polarity configuration
S-0-0085 / 85
Torque polarity configuration
Pre-
assigning “drive modes of operation”
E
ach ‘mode slot’ of the drive can be assigned a value determining its associated drive mode of operation. The
primary operation mode IDN (IDN S-0-
0032 / 32) and 7 secondary operation mode IDN’s (IDN’s S-0-0033 / 33 →
S-0-
0035 / 35 and IDN’s S-0-0284 / 284 → S-0-0287 / 287) can be filled with one of the following four values;
0: No mode of operation,
1: Torque control,
2: Velocity control,
3: Position control using feedback 1 (motor encoder), and