Difference between revisions of "MC-Basic:axis.OPMODE"
| Line 3: | Line 3: | ||
|SYNTAX= <axis>.OpMode = <value> <br> <lvalue> = OpMode | |SYNTAX= <axis>.OpMode = <value> <br> <lvalue> = OpMode | ||
|AVAILABILITY= | |AVAILABILITY= | ||
| − | |DESCRIPTION= Axis property . Assigning this property allows you to change the drive operation mode. | + | |DESCRIPTION= Axis property. Assigning this property allows you to change the drive operation mode. |
| − | {{Note| | + | |
| + | {{Note| Note the difference between [[Axystems:MC-Basic:axis.DRIVEOPMODE | DRIVEOPMODE ]] and OPMODE. <br> | ||
| + | <font color="red"> | ||
| + | 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. | ||
| + | </font>}} | ||
| + | |||
{{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.}} | {{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.}} | ||
| + | |||
|TYPE= long | |TYPE= long | ||
|RANGE= 0-2<br> | |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> | + | ::::'''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> | + | ::::'''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> | ||
| − | '''All the standard deviation thresholds are checked''': pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.<br> | + | ::::'''All the standard deviation thresholds are checked''': pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.<br> |
|UNITS= NA | |UNITS= NA | ||
Revision as of 14:15, 18 March 2014
Axis property. Assigning this property allows you to change the drive operation mode.
 | NOTE |
| {{{1}}} |
| 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.
- 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.
- 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.
- 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