### OPMODE

sets the operational mode for the drive. The drive can be configured as a velocity, torque loop, pulse following (gearing), or position controller.

0 - Serial Velocity: J, STEP, COMPMODE, PROFMODE, S, STOP
1 - Analog Velocity: VSCALE, COMPMODE, S, PROFMODE
2 - Serial Torque: T, S, STOP
3 - Analog Torque: ISCALE, S
4 - Gearing: GEAR, GEARI, GEARO, PEXT, GEARMODE, XENCRES
8 – Positioning: PCMDMODE, MA, MI, MH, PROFMODE, S

Notes:
Opmode 4 available only in firmware versions 2.1.0 and later.
Opmode 8 available only in firmware versions 3.1.0 and later.

Firmware Versions: all (see notes above)
Type: switch mode (R/W) Range: 0, 1, 2, 3, 4, 8
Units: n/a Default: 1
Opmodes: all Drive Status: dis EEPROM: yes