Operating modes
(Original Document)
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At a Glance
You can use each axes control channel in 4 operating modes:
Operating mode
Description
Automatic (AUTO)
This mode supports the execution of movement commands driven by the SMOVE functions.
Manual (MANU)
This mode supports the visual driving of the moving part, from a front panel or an operator dialog desk. The commands are enabled via output bits %Q.
Direct (DIRDRIVE)
In this mode the output behaves like a digital / frequency converter. This mode controls the movement according to the movement setpoint indicated in the variable PARAM.
Stop (OFF)
In this mode the channel does not monitor the moving part; it only reports on current position and speed.
This mode is forced at start up, if the axis is configured and error free.
Selecting the mode
The mode is selected by means of the word MOD_SELECT (%QWr.m.c.0)
The following table indicates the selected mode, according to the value of the word MOD_SELECT:
Value
Selected mode
Description
0
OFF
Switch to stopped movement
1
DIRDRIVE
Order to move in direct mode.
2
MANU
Order to move in manual mode.
3
AUTO
Order to move in automatic mode.
For any other value of MOD_SELECT, the OFF mode is selected.
Changing mode during a movement
Changing operating mode while a movement is in progress (DONE bit set to 1: %Ir.m.c.1) causes the moving part to stop. When the moving part is stopped (NO_MOTION bit set to 1: %Ir.m.c.7 ), the new operating mode is then activated.
NOTE: Only the commands concerning the current mode are examined. The other commands are ignored: for example, the channel in MANU mode (IN_MANU set to 1: %Ir.m.c.18), if the DIRDRV (%Qr.m.c.0) command is activated, it is ignored. It is necessary to change firstly to DIRDRIVE mode.