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7 Operation

7.1 Operating Modes

The servo drive implements several modes of operation. The behavior of the servo drive depends on the activated mode of
operation. It is possible to switch between the modes while the servo drive is enabled. The supported modes of operation
are according to CANopen

CiA DS 402 and there are also ISD-specific modes of operation. All supported modes of

operation are available for EtherCAT

and Ethernet POWERLINK

. The various modes of operation are described in detail in

the

VLT

Integrated Servo Drive ISD

510 System Programming Guide

Mode

Description

ISD Inertia measurement
mode

This mode measures the inertia of an axis. It is used to measure the inertia of the servo drive and the
external load, and to optimize the control loop settings. The friction effects are eliminated automatically.

Profile velocity mode

In profile velocity mode, the servo drive is operated under velocity control and executes a movement with
constant speed. Additional parameters, such as acceleration and deceleration, can be parameterized.

Profile position mode

In profile position mode, the servo drive is operated under position control and executes absolute and
relative movements. Additional parameters, such as velocity, acceleration, and deceleration, can be parame-
terized.

Profile torque mode

In profile torque mode, the servo drive is operated under torque control and executes a movement with
constant torque. Linear ramps are used. Additional parameters, such as torque ramp and maximum
velocity, can be parameterized.

Homing mode

In homing mode, the application reference position of the servo drive can be set. Several homing methods,
such as homing on actual position, homing on block, limit switch, or home switch are available.

CAM mode

In CAM mode, the servo drive executes a synchronized movement based on a master axis. The synchroni-
zation is done by means of a CAM profile that contains slave positions corresponding to master positions.
CAMs can be designed graphically with the ISD Toolbox software, or can be parameterized via the PLC. The
guide value can be provided by an external encoder, virtual axis, or the position of another axis. The
different CAM profile types are described in the

VLT

Integrated Servo Drive ISD

510 System Programming

Guide

Gear mode

In gear mode, the servo drive executes a synchronized movement based on a master axis by using a gear
ratio between the master and the slave position. The guide value can be provided by an external encoder,
virtual axis, or the position of another axis.

Cyclic synchronous position
mode

In cyclic synchronous position mode, the trajectory generator of the position is located in the control
device, not in the servo drive.

Cyclic synchronous velocity
mode

In cyclic synchronous velocity mode, the trajectory generator of the velocity is located in the control
device, not in the servo drive.

Table 7.1 Operating Modes

7.1.1 Motion Functions

Function

Description

Digital CAM
switch

This functionality controls whether the digital
output is enabled or disabled, depending on the
axis position. It performs a function comparable
to switches on a motor shaft. Forward and
backward movements of the axis position are
allowed. On and off compensation and hysteresis
can be parameterized.

ISD touch
probe

This functionality stores the position actual value
after a rising or falling edge at the configured
digital input.

Table 7.2 Motion Functions

7.2 Operating Status Indicators

The operating status of the servo drive and SAB is
indicated via the LEDs on each device.

Operation

Operating Instructions

MG75K102