Operating Modes

At a Glance

You can operate each axes control channel in 4 operating modes:

Operating mode	Description
Automatic (AUTO)	This mode is used for the execution of movement commands controlled by the SMOVE functions.
Manual (MANU)	This mode is used to control the moving part visually from a front panel or human machine interface terminal. The commands can be accessed by the %Q output bits.
Loop control disabled (DIRDRIVE)	The output behaves like a digital / analog converter in this mode. The control loop is inoperative. During adjustment this mode is used to analyze the behavior of the axis independently of the control loop.
Measurement (OFF)	In this mode, the channel does not check the moving part. It only returns information on position and current speeds. This mode is forced at start-up if the axis is configured and not faulty.

Mode Selection

Modes are selected:

using the MOD_SELECT (%QWr.m.c.0) word, or
by the debugging screen selector.

The following table indicates the selected mode, according to the %QWr.m.c.0 word value:

Value	Selected mode	Description
0	OFF	Measurement mode, analog output inhibition.
1	DIRDRIVE	Loop control disabled mode.
2	MANU	Manual mode.
3	AUTO	Automatic mode.

For all other values of MOD-SELECT, the OFF mode is selected.

Changing Mode During a Movement

Changing mode while a movement is in progress (DONE bit: % Ir.m.c.1 at 1) stops the moving part. When the moving part is actually stopped (NOMOTION bit: % Ir.m.c.8 at 1) the new operating mode is then activated.

NOTE: Only commands concerning the current mode are examined. The other commands are ignored (except when an SMOVE function is performed in manual mode).