Control Mode - Parker FL20-CA Series Product Manual

Access RO Mapping
Mode ALL Data range
It displays the current operation mode of the servo drive.
bit
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)
6.3.1 Mode Switchover
Observe the following precautions during mode switchover.
1. When the servo drive in any state switches over from the PP or CSP mode to another mode,
the position references not executed will be abandoned.
2. When the servo drive in any state switches over from the PV, PT, CSV or CST mode to
another mode, it stops at ramp before entering into that mode.
3. The servo drive cannot switch over to another mode when it is in the HM mode in running
state. After homing is completed or interrupted (fault or power-off), the servo drive can then
enter into another mode.
4. When the servo drive in running state switches over from a mode to the cyclic synchronous
mode, send the references at an interval of at least 1 ms; otherwise, reference loss or error
may occur.
VII.

Control mode

Servo system includes servo drive, servo motor and encoder.
FL20-CA Series
TPDO Data type
—
Default
Operation Mode
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
114
UINT16
—