Difference between revisions of "MC-Basic:axis.OPMODE"
| Line 30: | Line 30: | ||
* [[Axystems:MC-Basic:axis.TORQUECHANGERATIOMAX |TORQUECHANGERATIOMAX]] | * [[Axystems:MC-Basic:axis.TORQUECHANGERATIOMAX |TORQUECHANGERATIOMAX]] | ||
* [[Axystems:MC-Basic:axis.OPMODEMAP|OPMODEMAP ]] | * [[Axystems:MC-Basic:axis.OPMODEMAP|OPMODEMAP ]] | ||
| + | * [[Axystems:MC-Basic:axis.SUMTORQUE|SUMTORQUE ]] | ||
* [[Axystems:OperationalModes| Operational Modes]] | * [[Axystems:OperationalModes| Operational Modes]] | ||
* [[AXY:SERCOS_Operation_Modes|SERCOS OPMODEs]] | * [[AXY:SERCOS_Operation_Modes|SERCOS OPMODEs]] | ||
Revision as of 11:03, 20 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
See Also