0x014 - Operation mode

Address	Name	Data Type	Acces	Cyclic access	NVM	Value range	Default value	Units
0x014	Operation mode	UINT16	RW	Yes	Yes	Data type	0	-

This register modifies the current operation mode.

This parameter is composed of a set of indicating which elements are enabled in motion:

Bit number

15

...

9

8

7

6 ... 4

3 ... 0

Reserved

Homing

PTP Buffer

Profiler Mode

Standard operation modes

Standard operation modes bits

Those bits allow selecting the desired mode of operation as a base of the movement.

The supported profiler modes are the following. These will be explained below.

Operation modes

Note

Only velocity and position modes are compatible with profiler, except with linear interpolation mode, where quadrature current is supported.

Note

When either the operation mode or the option bits are changed, the profiler in process is cancelled and reconfigured.

For variations of these basic modes, further options can be signaled in this register. The allowed combinations are the following.

Name	Homing bit	PTP buffer bit	Profiler mode value	Standard operation mode	Value
Profile position	0	0	1	4	0x14
Profile position S-curve	0	0	4	4	0x44
Cyclic synchronous position	0	0	2	4	0x24
Interpolated position	0	1	2	4	0xA4
Buffered PVT	0	1	3	4	0xB4
Profile velocity	0	0	1	3	0x13
Cyclic synchronous velocity	0	0	2	3	0x23
Cyclic synchronous current	0	0	2	2	0x22
Homing	1	0	1	3	0x113
Cyclic synchronous torque	0	0	2	5	0x25