Hybrid Control Mode
The hybrid control mode refers to the ability of the servo driver to switch between different modes when the servo enable is ON and the servo state is "run".
There are four types of hybrid control modes.
● Position mode ↔ Speed mode
● Position mode ↔ Torque mode
● Speed mode ↔ Torque mode
● Speed mode ↔ Location mode ↔ Torque mode
By setting the function code P0000 through the panel or Samkoon driver debugging software, the servo driver will operate in hybrid control mode.
Code | Name | Set range | unit | value | Effective Mode | Set mode | Relevant Mode |
|---|---|---|---|---|---|---|---|
P00-00 | Mode selection | 0-position mode 1-Speed mode 2-Torque mode 3-Position and speed mixed mode 4-position and torque hybrid mode 5-speed and torque hybrid mode 6-Mixed mode of position, speed, and torque 7- Reserved 8-EtherCAT bus mode | -- | 0 | Effective immediately | Stop set | Ordinary user |
When P00-00=3/4/5, please configure one DI terminal (one of P01-04~P01-07) of the servo drive as Function 10- Operating Mode Switching 0, and confirm the valid logic of the DI terminal;
When P00-00=6, please configure the two DI terminals (P01-04~P01-07) of the servo drive as Function 10- Operation Mode Switching 0 and Function 11- Operation Mode Switching 1, separately, and confirm the valid logic of the DI terminals.
☆Associated function code: (example: using DI3 and DI4 for allocation)
Code | Data name | Set function | Function | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
P01-06 | DI3 terminal function selection | 10- Operation mode switching 0 | set the current control mode of the driver when the servo state is "run" in mixed control mode.
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P01-07 | DI4 terminal function selection | 11- Operation mode switching 1 | set the current control mode of the driver when the servo state is "run" in mixed control mode.
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