MC-Basic:axis.OPMODE
Axystems:Template:Temporary-Specification Command or axis property (if queried). This command allows you to change the drive operation mode.
Short form
None
Syntax
OpMode {<axis>} <value>
?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
Examples
OpMode 2
i = Ax1.OpMode