Selecting and switching the Modes¶
Selection of these modes is done by setting the object 0x6060 to the corresponding value as defined in the CiA 402 standard. Using OBLAC Drives, each mode can be activated both in the Playground area and in the Tuning area.
The modes are called by setting the object 0x6060 as follows:
Value for 0x6060 |
Control Mode |
+8 |
Cyclic Syncronous Position Mode |
+9 |
Cyclic Syncronous Velocity Mode |
+10 |
Cyclic Syncronous Torque Mode |
Use this object to select the desired Mode
The cyclic sync mode indicates that the reference values are sent and updated with each EtherCAT communication frame, so a reference signal has to be sent with usually 1 kHz. As an example, to rotate the motor shaft from position A to position B in cyclic sync torque mode within one second, the following information has to be sent to the drive:
position A in the beginning
998 intermediate positions
position B in the end
OBLAC Drives uses the cyclic sync position, velocity and torque mode to control the drive. Even though the app accepts inputs like velocity and acceleration, this just means that this information is used within the app to compute a reference trajectory. This trajectory is then sent to the drive in the form of individual setpoint values.
However, for some robotic applications it can be helpful to generate such trajectories directly on the drive which means that the high-level robot control will not have to deal with this task. You can do so using EtherCAT communication and the following objects:
Object |
Meaning |
Unit |
0x607A |
Target position |
inc |
0x60FF |
Target velocity |
inc/s |
0x6071 |
Target torque |
Per thousands of rated Torque |
Use this object to directly select a Target position
Use this object to directly select a Target velocity
Use this object to directly select a Target torque
