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6.2.2 Starting and changing an operating mode
Bits 0 ... 7 in the word "dmControl" are used to set the operating
mode.
15
CU
14
CH
13
SH
12
-
11
FR
10
QS
9
EN
8
DS
7
MT
6
ACTION
5
ACTION
4
MODE
3
MODE
2
MODE
1
MODE
0
MODE
dmControl
Figure 10: Structure dmControl bits 0 ... 7
Bit Name Description
0 ... 4 MODE Operating mode
Value 01
h
: Profile Position
Value 03
h
: Profile Velocity
Value 04
h
: Profile Torque
Value 06
h
: Homing
Value 1F
h
: Jog
Value 1E
h
: Electronic Gear
Value 1D
h
: Motion Sequence
5 ... 6 ACTION Operating mode-dependent
7 MT Handshake via Mode Toggle
The operating modes can be changed during operation. For this pur-
pose, the current process must be completed or explicitly canceled.
The motor must be at a standstill.
The master must enter the following values to activate an operating
mode or to change reference values:
•
Reference values, depending on desired operating mode
•
Operating mode in "dmControl", bits 0 ... 4 (MODE).
•
Action for this operating mode in bit 5 and bit 6 (ACTION)
•
Toggle bit 7 (MT)
The following chapters describe the possible operating modes, func-
tions and the corresponding reference values.
LXM32M
6 Operation
Modbus-TCP module
55
0198441113843, V1.01, 01.2012