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| − | | '''Description''' | + | | '''Syntax''' |
| − | | Sets the operational mode explicitly: | + | | <nowiki> ? user SET_SERCOS_MIN ( AxisNumber , value , 0 ) </nowiki> |
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| − | '''ATmode'''(4) – analog torque mode* If the current mode is digital then, the mode change occurs at the end of the current movement command ('''''Move, Jog,''''' and '''''DigitalTorque''''') when the generator completes the motion.
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| − | * The interpreter does not wait the motion end, all succeeding '''''WoMode''''' commands will overwrite the previous value if given during the same movement.
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| − | * If the current mode is analog and the new mode is one of the digital modes, then the mode change occurs immediately, and a profiled change (stopping) of the PVT values is executed to the following rules:
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| − | * to DIGITAL-POSITION mode the axis is stopped using the '''''DecMax''''' value with the initial velocity and position values equal to the current feedback values. At the end the velocity is zero.
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| − | * to DIGITAL-VELOCITY mode the axis is stopped using the '''''DecMax''''' value with the initial velocity and position values equal to the current feedback values. At the end the velocity is zero.
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| − | * to DIGITAL-TORQUE mode the torque is changed to zero value using the nodal value of '''''TimeToTorque''''' for the torque change from its initial value that is equal to the current feedback value to zero torque value.
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