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

0x6060 Op 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

0x607A Target position

Use this object to directly select a Target position

0x60FF Target velocity

Use this object to directly select a Target velocity

0x6071 Target torque

Use this object to directly select a Target torque