User manual

Modbus RTU 9MN744
Table 6 Control Modes Description Continued
Control Mode Action Control Sources/Commands
POSITION CMD EXTERNAL
MODE
Positioning mode using the
external position command
from pulse-follower option
board.
Writing `1' to this coil will
initiate the `POSITION CMD
EXTERNAL MODE.
Writing `0' will abort the
`POSITION CMD EXTERNAL
MODE if it's already in
progress or else it will be
ignored.
NOTE: Applicable only in
Vector/Servo product variants.
Control Source.9: ACC/DEC Group 1. Selects the accel/decel group 1 for ramp generation.
Control Source.10: ACC/DEC Group 2. Selects the accel/decel group 2 for ramp
generation.
Control Command.17: DRIVE ENABLE. Writing `1' will enable the drive provided J2-8 is
closed. Writing `0' will issue a disable command to the drive and PWM's will be turned
off and all other control commands will be ignored till this coil is set again.
J2-9 and J2-10 hardware limits must be closed for this mode to work correctly.
Max Speed parameter (P2003) sets the operating speed during positional moves.
Details to be developed later.
HOMING MODE
No action.
Writing `1' will have no action
for time being.
Will always read `0'.
No action.
PROCESS TORQUE MODE
Process torque control is
similar to PROCESS
operating mode. Closes the
current (torque) loop with set
point input from the source
selected in the “SETPOINT
COMMAND” parameter
(P2604), feedback input from
the source selected in the
“PROC FEEDBACK “
parameter (P2603), and
feedforward input from the
source selected in the “PROC
FEEDFORWARD” parameter
(P2602).
Writing `1' to this coil will latch
(set) the `PROCESS
TORQUE MODE' coil and will
clear all other control mode
coils.
NOTE: Applicable only in
Vector/Servo product variants.
Writing'0' to this coil will clear
the “PROCESS TORQUE
MODE” coil if it's already SET
or else it will be ignored.
Control Source.2 NETWORK: when set to `1' replaces the command source selection to
“NETWORK”. Same as setting P1402 to “NETWORK”.
Control Command.13: STOP COMMAND. Writing `1' will issue stop command to the drive.
Drive will switch to speed mode with current speed as initial seed to the ramp generator
and DECEL TIME#1 as the ramp limit. Will hold zero speed unless J2-8, J2-9 or J2-10
is open.
Control Command.17: DRIVE ENABLE. Writing `1' will enable the drive provided J2-8 is
closed. Writing `0' will issue a disable command to the drive and PWM's will be turned
off and all other control commands will be ignored till this coil is set again.
Control Command.14: FORWARD COMMAND. Writing `1' will enable the forward motion
provided J2-8 and J2-9 are closed. Writing `0'will issue a STOP command to the drive.
Control Command.15: REVERSE COMMAND. Writing `1' will enable the reverse motion
provided J2-8 and J2-10 are closed. Writing `0'will issue a STOP command to the
drive.
Control Command.16: BIPOLAR COMMAND. Writing `1' will enable the forward/reverse
motion provided J2-8, J2-9 and J2-10 are closed. Writing `0'will issue a STOP
command to the drive. Actual direction of motion will depend on the polarity of torque
command. Useful while implementing 3-wire modes.
SETPOINT SOURCE: P2604. Determines the source of torque reference. It could be set
of any of the 8 selections except “NONE” or “KEYPAD”. If command source is set to
“NETWORK” then “PROCESS REFERENCE” holding register (Modbus Reference
40019/20) will become the process torque reference source.
PROC FEEDBACK SOURCE: P2603. Determines the source of process feedback. It could
be set of any of the 8 selections except “NONE” or “KEYPAD”. If process feedback
source is set to “NETWORK” then “PROCESS FEEDBACK” holding register (Modbus
Reference 40021/22) will become the process feedback source.
PROC FEEDFORWARD SOURCE: P2602. Determines the source of process feedforward.
It could be set of any of the 8 selections except “NONE” or “KEYPAD”. If process
feedforward source is set to “NETWORK” then “PROCESS FEEDFORWARD” holding
register (Modbus Reference 40023/24) will become the process feedforward source.
AUTO TUNE MODE
Not used
Writing `1' has no effect at this
time.
Always `0'.
No action. Auto tune tests can be invoked directly by writing to action parameters P2901 -
P2910. No special action is necessary other than making sure that motor is decoupled
from load and J2-8 (ENABLE) is closed.
Monitor parameter “MOTION STATUS “ (P4) will tell if the drive is in auto tune mode.
JOG CONTROL MODE
Allows jogging while in remote
network mode
Writing `1' to this coil will latch
(set) the `JOG CONTROL
MODE' coil and will clear all
other control mode coils.
Writing'0' to this coil will clear
the “JOG CONTROL MODE”
coil if it's already SET or else
it will be ignored.
NOTE: Drive must be
disabled and in Network Mode
to set the JOG CONTROL
MODE coil
Control Command.13: STOP COMMAND. Writing `1' will issue stop command (sets the
internal speed reference to zero) to the drive. Will hold zero speed unless J2-8, J2-9
or J2-10 is open.
Control Command.17: DRIVE ENABLE. Writing `1' will enable the drive provided J2-8 is
closed. Writing `0' will issue a disable command to the drive and PWM's will be turned
off and all other control commands will be ignored till this coil is set again.
Control Command.14: FORWARD COMMAND. Writing `1' will enable the forward motion
provided J2-8 and J2-9 are closed. Writing `0'will issue a STOP command to the drive.
Control Command.15: REVERSE COMMAND. Writing `1' will enable the reverse motion
provided J2-8 and J2-10 are closed. Writing `0'will issue a STOP command to the
drive.
The “Hz JOG REFERENCE” holding register (Modbus Reference 40031/40032) or “RPM
JOG REFERENCE” holding register (Modbus Reference 40033/40034) will become the
speed reference source. Acceleration and deceleration will be performed at a rate
specified by “JOG ACCEL TIME” holding register (Modbus Reference 40035/40036)
and “JOG DECEL TIME” holding register (Modbus Reference 40037/40038)