MC-Basic:axis.OPMODE

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.

• 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