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 modes: In cyclic synchronous modes the trajectory must be computed by the master.
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.
Profile modes: In profile modes, the trajectory is computed on the slave.
Homing modes: Homing can be used to center an axis on its current position or to move to an index pulse of the encoder.
Switching modes: The modes are called by using Object 0x6060.