OperationModeGet()

RSIOperationMode OperationModeGet

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Description:

OperationModeGet will return the intended 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.

Returns

(::RSIOperationMode) Operation Mode.

Note

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 ServiceChannelRead, using the axis-specific SDO index.

See also

OperationModeSet, DriveIndexGet, NetworkIndexGet