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◆ OperationModeSet()

void OperationModeSet ( RSIOperationMode mode)
Description:
OperationModeSet will set the axis operation mode. This is associated with the CiA DS402 0x6060 object (Modes of Operation). For multi-axis drives, the SDO index is automatically adjusted based on DriveIndexGet():
  • Drive index 0: 0x6060
  • Drive index 1: 0x6860 (0x6060 + 0x800)
  • Drive index 2: 0x7060 (0x6060 + 0x1000), etc.
Parameters
modeOperation Mode.
Note
We recommend that you avoid using this function while the axis is enabled. This function uses PDO (cyclic) communication when the NetworkIndexGet() with RSINetworkIndexType::NetworkIndexTypeMODE_OF_OPERATION_INDEX is valid. Otherwise, it falls back to SDO (acyclic) communication via ServiceChannelWrite, using the axis-specific SDO index.
See also
OperationModeGet, DriveIndexGet, NetworkIndexGet
Examples
axis-homing-akd-drive.cs, and axis-homing-ds402-drive.cs.