Control Techniques Nidec SI-EtherCAT User Manual page 125

8.6.2 Mode agnostic
When Pr S.00.049 is set to "Mode Agnostic" (2) override is selected, the Object 0x1018:02 reports
a mode agnostic product code. i.e., the same product code for all modes. This allows an EtherCAT
master to change the drive mode, without the slave product code changing and thereby avoiding
the error that the slave seems to have changed.
The mode agnostic
The "Mode Agnostic" (2) override is used for high performance drives. For those drives support
mode agnostic function, a mode agnostic device type has been integrated in the ESI file. If the
mode agnostic function is used, the mode agnostic device type should be configured.
The mode agnostic drive uses the preconfigured PDO mappings (PDO6, defaults for vl
NOTE
velocity mode) in ESI file. It needs to select the appropriate preconfigured PDO or edit
the mappings manually as the application requires.
To change drive mode, defaulting the slot parameters (specifically, parameter Pr S.00.049) should
be avoided. This is done by using the special codes 1255 (50 Hz) /1256 (60 Hz) when writing to
Pr MM.000 (where MM is any menu). First set Pr 11.031 to the new mode, then write 1255 to
Pr MM.000 and finally press the reset button (which can also be done by writing 100 to Pr 10.038).
8.6.3 M200 and M300 agnostic
Pr S.00.049 can also be set to "M200 Agnostic" (2) or "M300 Agnostic"(3). When the host drive is a
general purpose drive, selecting "M200 Agnostic" (2) or "M300 Agnostic"(3), will make the drive
appear to be Unidrive M200 or M300 respectively.The Object 0x1018:02 reports as if the drive was
an M200 or M300. i.e. the same product code as that for M200 or M300. This allows a Commander
C200/300 to be used in place of an M200/300, without the need to change the system configuration
from PLC side.
8.6.4 Enhanced loop control
A manufacture specific object 0x3009, enhanced loop control, is added to fine control over the AMC
loop control.
Table 8-9 Enhanced Loop Control
0x3009 Enhanced Loop Control
Access: RW
Default: 0
PDO Mappable: No
This object can be used to change the behaviour of the closed loop control.
0. = default, standard behaviour
Description:
1. = where possible use Master AMC scaling as opposed to Slave AMC scaling so
maximum encoder resolution is used in the AMC closed loop
AMC Master scaling is only available when performing position control, so this only currently
applies to Cyclic Synchronous Position Mode.
SI-EtherCAT User Guide
Range: 0 to 1 Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on CiA402 transition
to SWITCH_ON
Unit: N/A
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