Kollmorgen AKD-N-DB Benutzerhandbuch Seite 1198

AKD Benutzerhandbuch | 25.38.3 SM.MODE
An alternating motion.
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The possible modes for this parameter are described in the following table:
SM.MODE Description
0
1
2
Ramps
The drive uses DRV.ACC and DRV.DEC for the ramps in DRV.OPMODE 1 (closed velocity) and 2
(closed position). The drive does not generate any ramps in service motion mode 0 and 1.
Service Motion for DRV.OPMODE 0 and SM.MODE 1
1198 KOLLMORGEN | Dezember 2014
Constant motion in closed current loop mode of ope-
ration.
DRV.OPMODE 0:
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The drive generates a constant current com-
mand value (SM.I1) for a certain amount of
time (if SM.T1>0) or endless (if SM.T1=0). The
drive will not generate any ramps in this mode
of operation.
DRV.OPMODE 1 or 2:
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The drive generates a constant velocity com-
mand value (SM.V1) for a certain amount of
time (if SM.T1>0) or endless (if SM.T1=0). The
drive generates acceleration and deceleration
ramps according to the DRV.ACC and
DRV.DEC setting in this mode of operation.
The service motion can be stopped by using the
DRV.STOP command.
DRV.OPMODE 0:
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The drive generates a current command value
(SM.I1) for a certain amount of time (SM.T1).
Afterwards the drive generates a current com-
mand value (SM.I2) for another certain amount
of time (SM.T2). This sequence is repeated as
long as a DRV.STOP command occurs. The
drive will not generate any ramps in this mode
of operation.
DRV.OPMODE 1 or 2:
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The drive generates a velocity command value
(SM.V1) for a certain amount of time (SM.T1).
Afterwards the drive generates a velocity com-
mand value (SM.V2) for another certain amount
of time (SM.T2). This sequence is repeated as
long as a DRV.STOP command occurs. The
drive will generate an acceleration and dece-
leration ramps according to the DRV.ACC and
DRV.DEC setting in this mode of operation.
This mode executes the same service motion as
mode 0. However, the motion is described by SM.I2,
SM.T2 and SM.V2. This enables a change on the fly
and is mostly used under fieldbus control.
Requirements
DRV.OPMODE =
0,1, or 2
DRV.CMDSOURCE
= 0
DRV.OPMODE = 0,
1, or 2
DRV.CMDSOURCE
= 0
DRV.OPMODE = 0,
1, or 2
DRV.CMDSOURCE
= 0