Modes Of Operation; Homing Mode - ABB FCAN-01 User Manual

90 Communication profiles
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Modes of operation

The operation mode defines the behavior of the drive. CiA 402
defines following operation modes:
•

Homing mode

•
Profile position mode
•
Interpolated position mode
•
Profile velocity mode
•
Profile torque mode
•
Velocity mode
The FCAN-01 CANopen adapter module supports minimal
implementation of the operation modes. Operation mode support is
drive-specific (see the figure at the beginning of this chapter). The
interpolated position mode is not supported.
In this chapter scalings of the reference and actual values are
described for each operation mode. Operation-mode-specific
objects are defined in section
131.
In ACSM1 drives, the mode of operation is automatically selected
according to the control mode configured with parameter 34.03
EXT1 CTRL MODE, 34.04 EXT1 CTRL MODE2 or 34.05 EXT2
CTRL MODE1 (depending on the current control location). The
correct reference scaling must be selected with parameter 50.04
FBA REF1 MODESEL.
If the value of parameter 50.04 FBA REF1 MODESEL and 50.05
FBA REF2 MODESEL of ACSM1 is (5) AUTO, it is possible to set
the mode of operation with object 6060h. For more information,
see section Standardized device profile area (6000...9FFF)
page 146.
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Homing mode
Homing mode describes various methods of finding a home
position, or zero point. Either limit switches at the ends of travel or
a home switch in mid travel are used. Most of the methods also
use the index (zero) pulse from an encoder. For more information
on the homing mode and descriptions of the various homing
methods, see the drive manual.
CANopen Object Dictionary on page
on