Command: Set Pos/Vel Ctrl Mode (68)

Supported Axes:	Position Control Axes
Firmware Requirement:	1.50 or newer

 

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

#	Parameter Description
1	Control Mode   Values Control Mode 0 Position PID 1 Position I-PD 4 Velocity PID 5 Velocity I-PD

Description

This command selects the closed loop control mode to be used when the next position or velocity motion command is issued. This command updates the Next Pos/Vel Control Mode register. The Current Control Mode register indicates the current control mode.

This command is an immediate command. Each step in a user program can have a maximum of one non-immediate command per axis. There is no limit to the number of immediate commands in a single step of a user program.

 

See Also

Next Pos/Vel Control Mode | Current Control Mode | Default Pos/Vel Control Mode | List of Commands | Commands Overview

---