MC-Basic:axis.OPMODE

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

	NOTE
	There is a difference between 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.

	NOTE
	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

0-2

• 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.

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
	At Sercos phase different then 4 query on Opmode will return -1.

Examples

Ax1.OpMode = 2
i = Ax1.OpMode

See Also

• TORQUE
• TORQUECHANGERATIO
• TORQUECHANGERATIOMAX
• OPMODEMAP
• SUMTORQUE
• Operational Modes
• SERCOS OPMODEs
• DRIVEOPMODE

• MC Operational Modes
• Operational Modes