Software Setup 5-9
Note 2: Command Mode Table
Cmd Mode Class Description
0 None All No mode selected. Output stage of control
remains off or disabled (voltage and current
removed from the mot or), regardles s of Run Cmd
condition.
1 Torque CMD
selected
source
S, V Closes the current loop with comm and input from
the source selec ted in the COMMAND SE LE CT
parameter.
2 Torque CMD
network
S, V Closes the current loop with comm and input from
the Torque Ref. regis t er.
3 Speed CMD
selected
source
All Closes the velocity loop with com mand input from
the source selec ted in the COMMAND SE LE CT
parameter.
4 Speed CMD
network
All Closes the velocity loop with com mand input from
the Speed Ref. regis t er.
5 Orient S, V* C or Index channel orient . The motor will be
commanded in the Fwd direction at the predefined
homing speed until the index puls e is detec ted.
The motor will then be commanded to hold position
at the predef ined home offset.
6 Position
CMD ABS
S,V* Closes the position loop with an absolute position
command from the Position Ref. regist er.
7 Position
CMD INC
S, V* Closes the position loop wit h an incremental
position command from the Pos it ion Ref. regist er.
8 Reserved for future use.
9 Position
CMD
external
S, V* Closes the position loop wit h command input from
external option sourc e (e.g. puls e follower exb).
10 Reserved for future use.
11 Process
Torque
All Closes the torque process cont rol loop.
Commands come from the appropriate command
input parameters.
12 Process
Velocity
All Closes the velocity proc es s cont rol loop.
Commands come from the appropriate command
input parameters.
13 A uto Tune E,S,V Changes command mode to Auto Tune. Test
conditions are cont rolled by Aut o Tune Mode.