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This command allows you to change the operation mode of the controller. <axis>.DRIVEOPMODE may be changed from Primary Opmode to the Secondary Opmodes in CP4 when Primary Opmode ( IDN 32 ) and one or more Secondary Opmodes (IDN 33, IDN 34) are defined in CP 2 (Refer to the SERCOS IDN Reference Manual).
For example :
'primary OpMode definition as position opmode
wival drive=A1.dadd IDN=32 value=3
'secondary OpMode1 definition as torque opmode
wival drive=A1.dadd IDN=33 value=1
'secondary OpMode2 definition
wival drive=A1.dadd IDN=34 value=2
0 to 2
0 = Opmode ,defined as Primary ( IDN 32 )
1 = Opmode ,defined as Secondary Opmode1 ( IDN 33 )
2 = Opmode ,defined as Secondary Opmode2 ( IDN 34 )
Configuration, Task, Terminal
Write Access Read/Write : Read/Write in CP4
Primary Opmode and Secondary Opmodes must be defined in CP2. Executed only in SERCOS communication phase 4.