Difference between revisions of "MC-Basic:axis.OPMODE"
| Line 4: | Line 4: | ||
|SYNTAX= OpMode {<axis>} <value> <br> ''?OpMode'' | |SYNTAX= OpMode {<axis>} <value> <br> ''?OpMode'' | ||
|AVAILABILITY= | |AVAILABILITY= | ||
| − | |DESCRIPTION= This command allows you to change the drive operation mode. | + | |DESCRIPTION= Command or axis property (if queried). This command allows you to change the drive operation mode. |
|TYPE= long | |TYPE= long | ||
|RANGE= 0-2<br> | |RANGE= 0-2<br> | ||
* 0 - TORQUEMODE<br> | * 0 - TORQUEMODE<br> | ||
| + | '''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> | ||
* 2 - POSITIONMODE<br> | * 2 - POSITIONMODE<br> | ||
| + | All the standard deviation thresholds are checked: pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.<br> | ||
| + | |||
|UNITS= NA | |UNITS= NA | ||
|DEFAULT= 2 | |DEFAULT= 2 | ||
| Line 16: | Line 20: | ||
* 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 | ||
| − | |EXAMPLE= OpMode 2 | + | |EXAMPLE= |
| + | OpMode 2 <br> | ||
| + | i = Ax1.OpMode | ||
|SEE ALSO= | |SEE ALSO= | ||
Revision as of 11:11, 16 November 2011
Axystems:Template:Temporary-Specification Command or axis property (if queried). This command allows you to change the drive operation mode.
Short form
None
Syntax
OpMode {<axis>} <value>
?OpMode
Type
long
Range
0-2
- 0 - 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.
- 2 - POSITIONMODE
All the standard deviation thresholds are checked: pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.
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
Examples
OpMode 2
i = Ax1.OpMode