Baldor Modbus Plus Installation And Operating Manual page 30

Note 2: Command Mode Table
Cmd Mode
0 None
1 Torque CMD
selected
source
2 Torque CMD
network
3 Speed CMD
selected
source
4 Speed CMD
network
5 Orient
6 Position
CMD ABS
7 Position
CMD INC
8
9 Position
CMD
external
10
11 Process
Torque
12 Process
Velocity
13 Auto Tune
Class
All No mode selected. Output stage of control
remains off or disabled (voltage and current
removed from the motor), regardless of Run Cmd
condition.
S, V Closes the current loop with command input from
the source selected in the COMMAND SELECT
parameter.
S, V Closes the current loop with command input from
the Torque Ref. register.
All Closes the velocity loop with command input from
the source selected in the COMMAND SELECT
parameter.
All Closes the velocity loop with command input from
the Speed Ref. register.
S, V* C or Index channel orient. The motor will be
commanded in the Fwd direction at the predefined
homing speed until the index pulse is detected.
The motor will then be commanded to hold position
at the predefined home offset.
S,V* Closes the position loop with an absolute position
command from the Position Ref. register.
S, V* Closes the position loop with an incremental
position command from the Position Ref. register.
Reserved for future use.
S, V* Closes the position loop with command input from
external option source (e.g. pulse follower exb).
Reserved for future use.
All Closes the torque process control loop.
Commands come from the appropriate command
input parameters.
All Closes the velocity process control loop.
Commands come from the appropriate command
input parameters.
E,S,V Changes command mode to Auto Tune. Test
conditions are controlled by Auto Tune Mode.
Description
Software Setup 5-9