Difference between revisions of "MC-Basic:axis.OPMODE"
| Line 2: | Line 2: | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= None | |SHORT FORM= None | ||
| − | |SYNTAX= | + | |SYNTAX= <axis>.OpMode = <value <br> <lvalue> = OpMode |
|AVAILABILITY= | |AVAILABILITY= | ||
| − | |DESCRIPTION= | + | |DESCRIPTION= Axis property . Assigning this property allows you to change the drive operation mode. |
|TYPE= long | |TYPE= long | ||
|RANGE= 0-2<br> | |RANGE= 0-2<br> | ||
| Line 20: | 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 | ||
| + | * Modal-Only | ||
|EXAMPLE= | |EXAMPLE= | ||
| − | OpMode 2 <br> | + | Ax1.OpMode = 2 <br> |
i = Ax1.OpMode | i = Ax1.OpMode | ||
|SEE ALSO= | |SEE ALSO= | ||
Revision as of 11:06, 6 December 2011
Axystems:Template:Temporary-Specification Axis property . Assigning this property allows you to change the drive operation mode.
Short form
None
Syntax
<axis>.OpMode = <value
<lvalue> = 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
- Modal-Only
Examples
Ax1.OpMode = 2
i = Ax1.OpMode