Table of Contents
Advertisement
MMC_Axis::ChangeControlMode
Changes control mode.
unsigned long ChangeControlMode(
unsigned short controlMode,
unsigned long timeout
);
Detailed description
■Parameter
Argument
controlMode [in]
timeout [in]
*1 Specify the following values for control mode.
Value
MMC_CONTROL_POSITION
MMC_CONTROL_SPEED
MMC_CONTROL_TORQUE
■Return value
Value
MMC_OK
MMERR_DEV_UNOPEN
MMERR_ARGUMENT_0
=1 to 9: Argument location
MMERR_TIMEOUT_01
MMERR_AXIS_ERROR
MMERR_CONDITION_BUSY_ON
MMERR_CONDITION_AXIS_ERROR_DETECTION
■Point
• After setting "1" to "[Cd.138] Control mode switching request", this method waits inside the method until the value changes
to "0".
• When MMC_INFINITE is designated as the timeout time, timeout is not checked. Instead, this function infinitely waits for
control mode switch.
• In speed-torque control the following labels are used.
• [Cd.140] Command speed at speed control mode
• [Cd.141] Acceleration time at speed control mode
• [Cd.142] Deceleration time at speed control mode
• [Cd.143] Command torque at torque control mode
• [Cd.144] Torque time constant at torque control mode (Driving mode)
• [Cd.145] Torque time constant at torque control mode (Regenerative mode)
• [Cd.146] Speed limit value at torque control mode
■Supported version
API version
1.00
■Reference
None.
3 API LIBRARY DETAILS (BASIC FUNCTIONS)
78
3.3 MMC_Axis Class
Description
*1
Control mode
Timeout time [ms] (0 to 65535)
Description
Position control mode
Speed control mode
Torque control mode
Description
Function succeeded
The Open method of the device driver class has not been called.
The argument is outside the set range.
The set timeout time has elapsed.
An axis error occurred. Check "[Md.23] Axis error No.".
BUSY signal [X10 to X1F] are ON.
Error detection ("[Md.31] Status": b13) is ON.
Software version
01
Advertisement
Table of Contents
