MCV_SetDriveMode

Different operation modes can be set with the MCV_SetDriveMode FB. The table below lists the possible operation modes.

Block diagram

FB parameters

VAR_IN_OUT
Variable name	Data type	Description
Axis	AXIS_REF	Axis reference
VAR_INPUT
Variable name	Data type	Description
Execute	BOOL	A rising flank at the input signal causes a change to the specified drive mode
DriveMode	INT	Value	Operation mode
		0	Position control
		1	Velocity control
		2	Torque control
		3	Position control with torque pilot control
VAR_OUTPUT
Variable name	Data type	Description
Done	BOOL	Is TRUE when a drive mode switch-over was completed successfully.
ActiveDriveMode	BOOL	The FB MCV_SetDriveMode is active.
ActualDriveMode	INT	Current drive mode
Error	BOOL	Is TRUE if an error occurs in the FB.
ErrorID	WORD	Error code

Behaviour of the FB:

To prevent the occurrence of a position lag error during torque control, the user must deactivate the position lag monitor (see MCV_PosLagMonitor FB).
Use of an invalid drive mode sets the "Error“ output to TRUE. The “ErrorID“ output indicates the error P-ERR-44049 (ERR_PO_AX_INVALID_DRIVE_MODE).
A change in drive mode is only permitted in the “Disabled” and “Standstill” states. If this is not the case, the “Error“ output becomes TRUE and “ErrorID“ indicates the error P-ERR-44050 (ERR_PO_AX_TNA_TORQUE_CTRL_ACTIVE).