Difference between revisions of "MC-Basic:axis.OPMODE"

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{{Languages|MC-Basic:axis.OPMODE}}
 
{{MC-Basic
 
{{MC-Basic
 
|SHORT FORM= None
 
|SHORT FORM= None
−
|SYNTAX= <axis>.OpMode = <value> <br> <lvalue> = OpMode
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|SYNTAX= <''axis''>.OpMode = <''value''> <br> <lvalue> = OpMode
 
|AVAILABILITY=
 
|AVAILABILITY=
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|DESCRIPTION= Axis property . Assigning this property allows you to change the drive operation mode.
 
−
{{Note| There is a difference between [[Axystems:MC-Basic:axis.DRIVEOPMODE | DRIVEOPMODE ]] and OPMODE. The DRIVEOPMODE does not change  the axis operational mode so the axis does not "know"  that it is in e.g. TORQUE and continues checking position and velocity. Also in this case the TORQUE command will not operate correctly. }}
 
  
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{{Note|The command [[Axystems:MC-Basic:axis.DRIVEOPMODE|DRIVEOPMODE]] can also change the drive operation mode, but this is not supported by the motion module.}}
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|DESCRIPTION= Axis property. Assigning this property allows you to change the drive operation mode.
  
−
|TYPE= long
 
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|RANGE= 0-2<br>
 
 
* 2 - TORQUEMODE<br>
 
* 2 - TORQUEMODE<br>
−
'''Position-error or acceleration max are NOT checked''',  but vfb < vospd, te < terrmax and tcmd < tmax  are checked as usual.<br>
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::::'''Position-error or acceleration max are NOT checked''',  but vfb < vospd, te < terrmax and tcmd < tmax  are checked as usual.<br>
 
* 1 - VELOCITYMODE<br>
 
* 1 - VELOCITYMODE<br>
−
'''Position-error is not NOT checked''' , but: vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax  are checked as usual.<br>
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::::'''Position-error is not NOT checked''' , but: vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax  are checked as usual.<br>
 
* 0 - POSITIONMODE<br>
 
* 0 - POSITIONMODE<br>
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'''All the standard deviation thresholds are checked''': pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.<br>
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::::'''All the standard deviation thresholds are checked''': pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.<br>
 +
 
 +
 
 +
{{Note| Note the difference between [[MC-Basic:axis.DRIVEOPMODE| DRIVEOPMODE ]] and OPMODE. <br>
 +
DRIVEOPMODE does not change the axis operational mode, so the axis does not "know"  that it is in e.g. TORQUE and continues checking position and velocity. Also in this case the TORQUE command will not operate correctly.}}
 +
 
 +
 
 +
{{Note|The command [[MC-Basic:axis.DRIVEOPMODE|DRIVEOPMODE]] can also change the drive operation mode, but this is not supported by the motion module.}}
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 +
 
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|TYPE= Long
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|RANGE= 0, 1, 2
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|UNITS= NA
 
|UNITS= NA
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* Write in CP4 only, Opmode change allowed in disabled state only.<br>
 
* Write in CP4 only, Opmode change allowed in disabled state only.<br>
 
* OPMODE change of an axis belonging to an ''attached group'' is not allowed
 
* OPMODE change of an axis belonging to an ''attached group'' is not allowed
−
* Modal-Only
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* Modal only
 
{{Note| At Sercos phase different then 4 query on Opmode will return -1.}}
 
{{Note| At Sercos phase different then 4 query on Opmode will return -1.}}
  
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|SEE ALSO=  
 
|SEE ALSO=  
  
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* [[Axystems:MC-Basic:TORQUE|TORQUE ]]
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* [[MC-Basic:TORQUE|TORQUE ]]
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* [[Axystems:MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATIO]]
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* [[MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATIO]]
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* [[Axystems:MC-Basic:axis.TORQUECHANGERATIOMAX |TORQUECHANGERATIOMAX]]
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* [[MC-Basic:axis.TORQUECHANGERATIOMAX|TORQUECHANGERATIOMAX]]
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* [[Axystems:MC-Basic:axis.OPMODEMAP|OPMODEMAP ]]
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* [[MC-Basic:axis.OPMODEMAP|OPMODEMAP ]]
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* [[Axystems:MC-Basic:axis.SUMTORQUE|SUMTORQUE ]]
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* [[MC-Basic:axis.SUMTORQUE|SUMTORQUE ]]
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* [[Axystems:OperationalModes| Operational Modes]]
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* [[OperationalModes| Operational Modes]]
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* [[AXY:SERCOS_Operation_Modes|SERCOS OPMODEs]]
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* [[SERCOS Operation Modes|SERCOS OPMODEs]]
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* [[Axystems:MC-Basic:axis.DRIVEOPMODE | DRIVEOPMODE ]]
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* [[MC-Basic:axis.DRIVEOPMODE| DRIVEOPMODE ]]
  
 
<br><br>
 
<br><br>
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* ''[[AXY:Operational_Modes | Operational Modes]]''
 
* ''[[AXY:Operational_Modes | Operational Modes]]''
 
}}
 
}}
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[[Category:Axystems:OperationalModes]]
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[[Category:OperationalModes]]

Latest revision as of 02:30, 20 April 2017

Language: English  • 中文（简体）‎

Axis property. Assigning this property allows you to change the drive operation mode.

  • 2 - TORQUEMODE
Position-error or acceleration max are NOT checked, but vfb < vospd, te < terrmax and tcmd < tmax are checked as usual.
  • 1 - VELOCITYMODE
Position-error is not NOT checked , but: vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax are checked as usual.
  • 0 - POSITIONMODE
All the standard deviation thresholds are checked: pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.


NOTE-Info.svgNOTE
Note the difference between DRIVEOPMODE and OPMODE.
DRIVEOPMODE does not change the axis operational mode, so the axis does not "know" that it is in e.g. TORQUE and continues checking position and velocity. Also in this case the TORQUE command will not operate correctly.


NOTE-Info.svgNOTE
The command DRIVEOPMODE can also change the drive operation mode, but this is not supported by the motion module.

Short form

None

Syntax

<axis>.OpMode = <value>
<lvalue> = OpMode

Type

Long

Range

0, 1, 2

Units

NA

Default

2

Scope

Task, Terminal

Limitations

  • Write in CP4 only, Opmode change allowed in disabled state only.
  • OPMODE change of an axis belonging to an attached group is not allowed
  • Modal only
NOTE-Info.svgNOTE
At Sercos phase different then 4 query on Opmode will return -1.

Examples

Ax1.OpMode = 2
i = Ax1.OpMode

See Also



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