Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 579 of 909
MODE
Mode Operating
APPLICATION: Motion control
DESCRIPTION: Get operating mode, specific trajectory
EXECUTION: Read only
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RMODE
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: -5 to 7
TYPICAL VALUES: -5 to 7
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RMODE(1):3, x=MODE(1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MODEcommand gets (reads) the operating mode as follows:
l
MODE gets the active operating mode
l
MODE(...) gets the active operating mode, specific trajectory
For example x=MODE(1) will report trajectory 1 (MP, MV, MT)
The following table describes the possible meaning for the returned value:
Part 2: Commands: MODE
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