AXIS#.OPMODE

Description

AXIS#.OPMODE specifies the operation mode of the axis. AXIS#.CMDSOURCE must also be used to set the source of the command to the axis.

The operation mode values can be set as follows:

Mode

Description

0

Current (torque) operation mode

1

Velocity operation mode

2

Position operation mode

AXIS#.OPMODE can be changed while the axis is enabled or disabled. If using the terminal to change the operation mode, it is recommended to disable the axis before changing the operation mode. If changing the operation mode from the terminal while the axis is enabled, the system may experience a step change in demand.

Example

Set the source of the command to a TCP/IP channel and the desired operation mode to velocity:

-->AXIS1.CMDSOURCE 0

-->AXIS1.OPMODE 1

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 2

Default Value

0

Data Type

Integer

Stored in Non Volatile Memory

Yes

Gantry Mode

If the axis is in Gantry Mode (CMDSOURCE = 4), then this opmode setting has no effect until the CMDSOURCE is set to something other than 4 – Gantry.

Sensorless Field Oriented Control Mode

If sensorless field oriented control is activated by setting AXIS#.IL.FBSOURCE=100, only velocity mode can be selected as the opmode.

Variants Supported

All variants are supported.

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen AXIS1.OPMODE 0x5000 0x5 USINT - - RW False
AXIS2.OPMODE 0x5100 0x5 USINT - - RW False

Related Topics

Gantry Mode