Overview
Axis operation mode
CNC axes can be divided into axes with drive-internal or CNC-internal position control. Both operation modes are possible for SERCOS drives. An axis operation mode can be defined in the axis parameter P-AXIS-00320 (operation_mode).
Notice
The axis parameter P-AXIS-00320 (operation_mode) is only used for SERCOS axes.
Variable name | Type | Permitted range | Axis type | Dimension |
operation_mode | ISG_CHAR | see strings below | T, R | ---- |
String | Meaning |
DRIVE_DEFAULT | Default setting The operation mode used (position control in the drive, position control in the controller, velocity control, etc.) is defined automatically. It depends on the drive type and on the configured telegram. |
DRIVE_POSITION_CONTROL | In this operation mode, position and velocity control take place in the drive. |
CNC_POSITION_CONTROL | Position control takes place in the controller. |
Default setting
If no operation mode is specified for an axis, the controller uses the default setting. The table below shows an overview of the possible operation modes depending on the drive type (default setting marked).
Drive type | Position controller in drive | Position controller in controller |
Conventional drive |
| X (default) |
SERCOS | X (default) | X |
ProfiDrive MC | X (default) | X |
Drive simulation |
| X (default) |
Lightbus |
| X (default) |
Terminal (±10V) |
| X (default) |
Real-time Ethernet |
| X (default) |
CANopen | X (default) | X |
Virtual |
| X (default) |
Remark for ProfiDrive / CANopen
With ProfiDrive drives, the position lag is also calculated in the controller in “Position control in drive” mode.
With CANopen drives, the operation mode is selected depending on the bus telegram configured. Position control takes place in the drive if command positions are transferred. However, if only a velocity command value is transferred to the drive, position control takes place in the controller.