Modes of Operation

SOMANET supports different modes of operation that either utilize a trajectory controller on the slave (e.g. profile modes) or get their trajectories from a master and cyclically decrease the difference between target and actual values (cyclic modes). Additionally, Homing modes are available to move the axis to a specific position.

• Cyclic modes: In cyclic synchronous modes the trajectory must be computed by the master.

  • Cyclic synchronous torque control (CST): In torque control mode the master sends desired torques to the drive.

  • Cyclic synchronous velocity control (CSV): In velocity control modes the master sends desired velocities to the drive.

  • Cyclic synchronous position control (CSP): In position control modes the master sends desired positions to the drive.

• Profile modes: In profile modes, the trajectory is computed on the slave.

  • Profile position mode: In profile position mode the trajectory to a target point is generated on the drive.

  • Profile velocity mode: In profile velocity mode the motor will rotate at a target velocity.

  • Profile torque mode: In profile torque mode the drive sends a target torque to the motor.

• Homing modes: Homing can be used to center an axis on its current position or to move to an index pulse of the encoder.

• Switching modes: The modes are called by using Object 0x6060.