typedef enum {
    MPINodeModeINVALID,

    MPINodeModeNONE,
	
    /*	 servo_command_feedback 	*/
    MPINodeModeOPENLOOP_TORQUE,
    MPINodeModeOPENLOOP_VELOCITY,
    MPINodeModeOPENLOOP_POSITION_MOTOR,
    MPINodeModeOPENLOOP_POSITION_EXTERNAL,
    MPINodeModeOPENLOOP_POSITION_DUAL,

    MPINodeModePOSITION_TORQUE_MOTOR,
    MPINodeModePOSITION_TORQUE_EXTERNAL,
    MPINodeModePOSITION_VELOCITY_MOTOR,
    MPINodeModePOSITION_VELOCITY_EXTERNAL,

} MPINodeMode;

NodeMode defines the different types of control algorithms that are supported under SERCOS and can be used by a node.