BECKHOFF AX5000 S-IDN Parameters - Manual (Page 35)

S­IDNs
S­0­0032 Primary operation mode
The parameter selects the main operating mode.
Attributes
Name Value
Format Binary
Data length 16
Decimal point 0
Min value ­
Max value ­
Default value 2
Unit ­
Changeable in EtherCAT state PreOp
Cyclic transfer No
Device parameter No
Related to interface revision from 204: additional operating modes “using dynamic MDT”
The operating modes (main mode or secondary modes 1 to 3) are activated via bits 9 and 8 in the
DriveControlWord of the MDT (S­0­0134). The DriveStatusWord (S­0­0135) of the drive telegram (AT)
indicates the activated mode via bits 9 and 8.
The position­controlled operating modes can only be selected as main mode without secondary mode.
Bit pattern:
Value Description
0 no mode of operation
no mode of operation
1 torque control
Torque control
2 velo control
Velocity control
3 pos ctrl feedback 1
Position control, feedback system 1
4 pos ctrl feedback 2
Position control, feedback system 2
11 pos ctrl feedback 1 lag less
Position control lag less, feedback system 1
12 pos ctrl feedback 2 lag less
Position control lag less, feedback system 2
32769 torque control using dynamic MDT
Torque control using dynamic MDT
32770 velo control using dynamic MDT
Velocity control using dynamic MDT
32771 pos ctrl feedback 1 using dynamic MDT
Position control using dynamic MDT, feedback system 1
32772 pos ctrl feedback 2 using dynamic MDT
Position control using dynamic MDT, feedback system 2
32779 pos ctrl feedback 1 lag less using dynamic MDT
Position control lag less using dynamic MDT, feedback system 1
AX5000 ­ IDN­Descriptions 35 Version 3.1