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 (torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist) 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

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDOPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	AXIS1.OPMODE	0x5000	0x5	USINT	-	-	RW	False
	AXIS2.OPMODE	0x5100	0x5	USINT	-	-	RW	False