Set Mode Command

Character: M
Decimal: 77
Hexadecimal: 0x4D
Command Value: New Mode value

This command is used to change the Mode for the current command in one of several ways. The changes take place immediately. The allowed bits (described below) are copied from the Command Value to the Mode field for this axis. The following Mode bits can be changed with this command:

Gearing Type Bit (bit 14) and Gear Master Select Bits (bits 4-6):
If the axis is already gearing to another axis, then these bits can be changed to switch immediately to gearing to another axis or position quantity. Changing these bits when the axis is not already geared will have no effect. The gearing bits cannot be changed if the axis is gearing in mode 2.
Monitor Pressure Bit (bit 8):
Clearing this bit while regulating pressure will drop the axis out of pressure regulation. Changing this bit at any other time will simply make the axis stop or resume monitoring the pressure for entering pressure control.
Rotational Bit (bit 9):
Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational Mode. Changing this bit while the axis is doing a Point-to-Point, Synchronized, Quick, or Speed Control move will have no effect, since Point-to-Point, Quick, and Synchronized moves are only defined in non-Rotational mode and Speed Control is only defined in Rotational mode. It is allowed in Open Loop, Stopped, Spline, Gear, and Reference control modes.
Pressure Mode Bits (bits 0-1)—PRESSURE AXES ONLY: If these bits are changed while regulating pressure, the axis will come out of pressure regulating mode, and return to pressure monitoring mode. Depending on the conditions, the axis may immediately re-enter pressure regulating mode, but there will be a discontinuity. For this reason, it is not recommended that the mode be changed while regulating pressure.