Primary op. Mode switch to default after reboot

[Jordy]

When we reboot our CtrlX drive parameters are set to defaul S-0-0032 primary op. mode switch back from Velocity control (0b0000.0000.0000.0010) to Position control, lasless, encoder 1. (0b0000.0000.0000.1011). 

We want Velocity control as default primary op. mode. (0b0000.0000.0000.0010) in this drive. 

Hardware: XMD2-W1616ANN-02NETM5NNNN-S0308N2NNNN3NN

Firmware: FWA-XD1-AXS-V-0308N-NN.01

 See attached full backup after reboot. 

[CodeShepherd]

This is intended. The primary operation mode of the ctrlX DRIVE at a ctrlX CORE is always "Position control lagless". If you use the standard Velocity control your drive also stay like this because our ctrlX MOTION is recalculating the velocity values to position set values.

For using the velocity mode in the drive, the second operation mode 1 is "Velocity control" and the device will be switched to that for the time it is commanded by the motion to this mode.

Why so you need it as primary operation mode?

[Jordy]

We have implement the Indradrives with this configuration for all X axis of our machines.

For our software (CNC controller) it is unknow if there are operating with a Indradrive controller or Ctrl-X controller. The communication is the same and parameters are the same.  

With this change we have to implement new steering for the selection of the operation mode. This is not our preference. 

Indra drive situation: 

[CodeShepherd]

To make things clear: You are using an non Rexroth CNC controller and ctrlX DRIVE are connected to it. Via which protokol? There is no MLC, MTX or ctrlX CORE controller involved?

If I am wrong feel free to tell how the topology looks like.

[Jordy]

We are using a Beckhoff Twincat 3 with NC axis controller as motion controller.

The communication to the CtrlX Drive is done with EtherCat. 

[CodeShepherd · Accepted solution]

Please check the startup parameters in your EtherCat master. In standard there S-0-0032 "Operation mode" is set to 11 (0b0000.0000.0000.1011). Removing this value should stop the rewriting.