Modes of Operation
SOMANET supports different modes of operation that either utilize a trajectory controller on the slave (e.g. profile modes) or get their trajectories from a master and cyclically decrease the difference between target and actual values (cyclic modes). Additionally, Homing modes are available to move the axis to a specific position.
Cyclic synchronous torque control (CST) In torque control mode, the master sends desired torques to the drive
Cyclic synchronous velocity control (CSV) In velocity control modes, the master sends desired velocities to the drive
Cyclic synchronous position control (CSP) In position control modes, the master sends desired positions to the drive
In Profile position mode, the trajectory to a target point is generated on the drive.
For Profile position mode for Software Reference 5.6, click here.
For earlier Software Reference versions, click here.
Profile velocity mode In profile velocity mode, the motor will rotate at a target velocity
Profile torque mode In profile torque mode, the drive sends a target torque to the motor
Diagnostics opmode Used for triggering diagnostic OS commands
Store Home Position Saves the home position value in the Object Dictionary as well as in the configuration file whenever homing is performed
Switching the modes Describes how the modes can be selected