Introduction Of Common Bus Control Mode - Parker FL-20-C Series Product Manual

6.3 Introduction of common bus control mode

FL20-C series supports 7 servo modes, as defined in the object dictionary 6502h.
Name
Index
6502h Access
Mode
It indicates the supported the running modes of servo drive:
bit
0 Profile position mode (PP)
1 Variable velocity mode (VL)
2 Profile velocity (PV)
3 Profile torque (PT)
4 Reserved
5 Homing mode (HM)
6 Interpolated position mode (IP)
7 Cyclic synchronous position mode (CSP)
8 Cyclic synchronous velocity mode (CSV)
9 Cyclic synchronous torque mode (CST)
10～31 Reserved
【Note】if device supports 6502hm, the supported modes can be known in this object.
The operation mode of the servo drive is set in 6060h. The operation mode of the servo drive
can be checked in 6061h.
Mode selection 6060h:
Name
Index
6060h Access
Mode
It used to select the operation mode of servo drive:
Value
0 Reserved
1 Profile position mode (PP)
2 Reserved
3 Profile velocity mode (PV)
4 Profile torque mode (PT)
5 Reserved
6 Homing mode (HM)
7 Interpolated position mode (IP)
8 Cyclic synchronous position mode (CSP)
9 Cyclic synchronous velocity mode (CSV)
10 Cyclic synchronous torque mode (CST)
Supported servo modes
RO Mapping
ALL Data range
Description
Operation mode
RW Mapping
ALL Data range
FL20-C Series
Setting
Display
mode
N
—
0: Not supported
Setting
—
mode
RPDO
0～10
Servo mode
104
Data
structure
Data type
Default
1: Supported
1
0
1
1
Reserved
1
0
1
1
1
Reserved
Data structure
Data type
Default
Reserved
Refer to PP mode
Reserved
Refer to PV mode
Refer to PT mode
Reserved
Refer to HM mode
Not supported
Refer to CSP mode
Refer to CSV mode
Refer to CST mode
VAR
UDINT32
941
VAR
UINT16
0