### GEARMODE

is a switch mode variable that specifies the operation of electronic gearing for OPMODE 4:
GEARMODE = 0 - Encoder Follower, Flex I/O (Connector C3) Inputs: The encoder input channel is decoded as a quadrature input, scaled through GEARI / GEARO, and becomes the position command for the motor. The digital I/O ("Flex I/O") inputs serve as the encoder input channel (see Note below for clarification).
GEARMODE = 1 - Pulse and Direction, Flex I/O (Connector C3) Inputs: The encoder input channel A counts positive edges and becomes the position command. The encoder input channel B level dictates if the counter will count up or down. Channel B low drives motor in CW direction. The digital I/O ("Flex I/O") inputs serve as the encoder input channel (see Note below for clarification).
GEARMODE = 2 - Up/Down Mode, Flex I/O (Connector C3) Inputs: The encoder input channel is configured as a counter to command the motor’s position. Positive edges on the A channel increments the counter (motor CW) while positive edges on the encoder input channel B decrements the counter (motor CCW). The digital I/O ("Flex I/O") inputs serve as the encoder input channel (see Note below for clarification).
GEARMODE = 3 - Encoder Follower, Remote Encoder (Connector C8) Inputs: The encoder input channel is decoded as a quadrature input, scaled through GEARI / GEARO, and becomes the position command for the motor. The remote encoder ("handwheel") inputs serve as the encoder input channel (see Note below for clarification).
GEARMODE = 4 - Pulse and Direction, Remote Encoder (Connector C8) Inputs: The encoder input channel A counts positive edges and becomes the position command. The encoder input channel B level dictates if the counter will count up or down. Channel B low drives motor in CW direction. The remote encoder ("handwheel") inputs serve as the encoder input channel (see Note below for clarification).
GEARMODE = 5 - Up/Down Mode, Remote Encoder (Connector C8) Inputs: The encoder input channel is configured as a counter to command the motor’s position. Positive edges on the A channel increments the counter (motor CW) while positive edges on the encoder input channel B decrements the counter (motor CCW). The remote encoder ("handwheel") inputs serve as the encoder input channel (see Note below for clarification).

Note: if GEARMODE = 0-2, encoder A/B inputs are received via the digital "Flex I/O" inputs on connector C3 (see INx and INxMODE descriptions); if GEARMODE = 3-5, encoder A/B inputs are received via the remote encoder (sometimes called "handwheel") inputs on connector C8.

Note that each of these modes are subject to: GEARI, GEARO, GEAR, and DIR.

Firmware Versions: 2.1.0 and later
Type: switch mode (R/W) Range: 0 to 5
Units: n/a Default: 3
Opmodes: 4 Drive Status: dis EEPROM: yes