Motion Control Modes
Motion control modes are organized around the general philosophy that position control is the highest form of dynamic control. That is, position control implies velocity control, and velocity control implies acceleration control.
Acceleration is related to torque or force by the inertia or mass of the load; respectively, acceleration control implies torque control. Because motor torque or force is related to motor current by a torque or force constant, respectively, torque control implies current control. The torque or force constant can be a function of the motor magnets as in a Permanent Magnet motor, or the induced flux of an Induction motor.
Because acceleration, torque/force, and current are related by a constant, these terms are sometimes used interchangeably in the industry. For example, a torque control loop rather than a current control loop. Motion Control Axis Attributes let you differentiate between these control properties. This attribute is useful when the relationship between them is not static, such as when inertia/mass changes with position or time, or when the torque/force constant changes due to temperature change or motor flux variation.
Control mode | Axis Test Mode Support (Test Mode Configuration) |
|---|---|
B - Bus Power Converters (No Control Mode, No Control Method) | Controller Loop Back: V35 (Enables Inverter Axes in an associated Bus Sharing Group to transition to Running Sate. Simulates axis-state transitions and status.) |
E - Encoder, Feedback Only (No Control Mode, No Control Method) | Controller Loop Back: V35 (Simulates axis-state transitions and status.) |
P - Position Control Mode | Controller Loop Back: V35 (Simulation tracks the Actual Position to the Command Position with a simulated controller-drive interface delay.)(Simulates axis-state transitions and status.)Controller Loop Back: V36(Simulation supports Motion Safety Instructions.) |
V - Velocity Control Mode | Controller Loop Back: V35 (Motion is not simulated in this Control Mode so actual values do not change in response to changes in command values.)(Simulates axis-state transitions and status.) |
T - Torque Control Mode | Controller Loop Back: V35 (Motion is not simulated in this Control Mode so actual values do not change in response to changes in command values.) (Simulates axis-state transitions and status.) |
F - Velocity Control Mode | Controller Loop Back: V35 (Motion is not simulated in this Control Mode so actual values do not change in response to changes in command values.) (Simulates axis-state transitions and status.) |
Motion Control Nomenclature
Linear and rotary control applications can affect the control nomenclature. While rotary applications speak of torque and inertia, linear applications speak of force and mass. When we refer to rotary nomenclature, the defined behavior can generally be applied to linear applications by substituting the terms, force for torque and mass for inertia. With that understanding, we use torque rather than force in the control mode diagrams without loss of generality.
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