MPI 04.00 Reference >> mpiMotor



typedef enum MPIMotorDemandMode {
	MPIMotorDemandModeINVALID = -1,
	MPIMotorDemandModeFIRST = MPIMotorDemandModeINVALID + 1
} MPIMotorDemandMode;


Required Header: stdmpi.h

Change History: Modified in 04.00. Added in 03.04.00.


MPIMotorDemandMode is an enumeration of demand modes for a motor. The demand mode determines the data type(s) transmitted from the controller to the node for servo control.

During SynqNet network initialization, the nodes are discovered and the demand mode is automatically set to a default based on the particular drive model. The number of demand fields (1, 2, or 3) per motor are enabled and connected to the controller’s filter (closed-loop servo algorithm). The user can change the demand mode using mpiMotorConfigGet/Set(…).

Please consult the drive or RMB (Remote Motion Block) documentation to determine which modes are supported.\

MPIMotorDemandModeTORQUE The controller sends a 16-bit motor control value representing torque. For SynqNet drives only.
MPIMotorDemandModeVELOCITY The controller sends a 16-bit motor control value representing velocity. For SynqNet drives only.
MPIMotorDemandModeANALOG The controller sends a 16-bit motor control value representing torque. For RMBs only.
MPIMotorDemandModeANALOG_DUAL_DAC The controller sends two 16-bit motor control values. Use this mode for auxiliary DACs or sinusoidal commutation. For RMBs only.


For optimum controller performance with RMBs, set demandMode = MPIMotorDemandModeANALOG_DUAL_DAC ONLY for motors that actually use the auxiliary DACs.

Sample Code

To configure the SynqNet demand mode for velocity:

MPIMotorConfig config;
mpiMotorConfigGet(motor, &config); config.demandMode = MPIMotorDemandModeVELOCITY; mpiMotorConfigSet(motor, &config);

See Also

MPIMotorConfig | mpiMotorConfigSet | mpiMotorConfigGet | mpiMotorDemandModeSet | mpiMotorDemandModeGet | SynqNet Demand Modes