Current Control Mode

Type:	Axis Status Register
RMC70 Address:	Fn:6, where n = 8 + the axis number
RMC150 Address:	Fn:6, where n = 8 + the axis number
System Tag:	_Axis[n].CtlMode, where n is the axis number
How to Find:	Axes Status Registers Pane, All tab: Control
Data Type:	REAL
Units:	–

Description

The Current Control Mode is the control mode that the axis is currently in. The Current Control Mode register does not indicate whether the axis is in pressure or force limit. Use the Status Bits register for pressure or force limit information.

Values	Control Mode
0	None
1	Direct Output
2	Open Loop
3	Position PID
4	Position I-PD
5	Velocity PID
6	Velocity I-PD

Any motion command that switches the control mode will affect this register. For example, issuing Direct Output (9) or Open Loop Rate (10) commands will change this register to values of Direct Output (1) and Open Loop (2). Also, issuing closed loop motion commands will switch the control mode to the control mode specified by the Next Pos/Vel Control Mode register. Use the Set Pos/Vel Ctrl Mode (68) command to change the value of this register, and thus control which closed loop control mode will be used.