There are a number of modes of operation the motor can be set to.

1. CML mode - this is the standard and default mode. 
2. Profile mode - run position or speed profiles
3. Torque mode - run in a torque mode

Setting Mode Of Operation

The control registers in the mode selected use either standard CML registers or registers set directly such as through Modbus-TCP. The mode of operation selected indicates where the control registers will be received

The following table lists the mode of operation and the associated registers

Set the mode of operation by the following

1. Send "mgen=x" on the CML port when x is the value of the mode of operation
   1. If the mode of operation is changed in program/logic banks set a variable to "mgen" and change the value in the bank accordingly.
2. Set modbus register 41041 to the value of the required mode of operation.

CML Mode

CML mode is the standard mode that the Cool Muscle motor typically operates in. There are no specific control registers. See the CM1 documentation for CML mode usage.

Profile Mode

Profile mode would be a typical mode used in point-to-point motion and/or continuous velocity motion. The following registers are used depending on the profile mode selected.