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
|
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 |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5015 |
1 |
5015 (0x1397) |
AXIS1.OPMODE |
Unsigned8 |
Read/Write |
Yes |
|
70551 |
2 |
5015 (0x1397) |
AXIS2.OPMODE |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.OPMODE |
5015 |
Unsigned8 |
Read/Write |
- |
