Current Operation; Serial Current Operation; Analog Current Operation; Current Control - Servotronix CDHD2S User Manual

Operations
8=Position control, using serial commands
When using CANopen or CANopenoverEtherCAT (CoE) communication, the operation mode
can be set via object 6060h and reported via object 6061h.
1=Profile position
3=Profile velocity
4=Profile torque
6=Homing
7=Interpolation position
8=Periodic synchronization position
9=Periodic synchronization velocity
10=Periodic synchronization torque
For details, please refer to the CDHD2SEtherCAT and CANopen manuals.

7.3 Current Operation

7.3.1 Serial current operation

In serial current mode (OPMODE2), only the current loop is active and the drive responds to
commands received via the USB or RS232 port.
Other than tuning the current loop, no drive variables need to be set to operate the drive in
this mode.
In the ServoStudio2 "Movement" screen, select "Operation Mode" - Serial Current, which is
used to modify and test parameters.

7.3.2 Analog current operation

When operating in the analog current mode (OPMODE3), only the current loop is active and
the drive responds to analog commands from the main analog input (connected at controller I/F
(C2) pins 8 and 26).
In the ServoStudio2 "Movement" screen, select "Operation Mode" - Analog Current, which is
used to modify and test parameters.

7.3.3 Current control

Note: It is not necessary to change the values in the Current Loop screen unless requested by
technical support.
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