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

When an axis has its command source set to Gantry Mode - the axis will inherit the master's Op Mode, and the Op Mode will be unable to be changed by the user. When the axis is changed out of Gantry Mode, the original Op Mode of the axis will return and the user can directly change the Op Mode. Care should be taken that the axis is succesfully tuned and stable before entering Gantry Mode.

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

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.OPMODE	5000h	05h	Unsigned8	-	-	Read/Write	No
AXIS2.OPMODE	5100h	05h	Unsigned8	-	-	Read/Write	No

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
AXIS1.OPMODE	5015	1397	Unsigned8	Read/Write	-
AXIS2.OPMODE	70551	1139	Unsigned8	Read/Write	-

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.OPMODE	5015	Unsigned8	Read/Write	-