Yt_ControlMode
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| 0
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NoControl
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Not valid
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Yt_ControlMode#NoControl
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| 1
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PositionMode
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The ServoPack will be controlled in position mode. A new command target must be calculated in the controller at a frequency suitable for the application. No acceleration or speed profiling is added by the system.
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Yt_ControlMode#PositionMode
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| 2
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VelocityTLMode
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The Servo will be operated in velocity mode. The Torque input of the Y_DirectControl function block will serve as the torque Limit in this mode.
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Yt_ControlMode#VelocityTLMode
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| 3
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TorqueVLMode
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The Servo will be operated in torque mode. The Velocity input of the Y_DirectControl function block will serve as the velocity limit in this mode. If the velocity limit is reached, the servo will apply increased torque if necessary to keep the velocity within the limits.
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Yt_ControlMode#TorqueVLMode
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| 4
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PositionTrqFFMode
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The Servo will be operated in position mode. The Torque input of the Y_DirectControl function block will serve as the torque feed forward value in this mode.
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Yt_ControlMode#PositionTrqFFMode
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| 5
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VelocityTrqFFMode
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The Servo will be operated in velocity mode. The Torque input of the Y_DirectControl function block will serve as the torque feed forward value in this mode.
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Yt_ControlMode#VelocityTrqFFMode
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