The Atlantic Meridional Overturning Circulation (AMOC) is an ocean current that transports heat into the North Atlantic. Over the ice age cycles, AMOC strength and its spatial pattern varied. We tested the role of heat forcing for these AMOC changes by simulating the temperature changes of the last eight glacial cycles. In our model, AMOC shifts between four distinct circulation modes caused by heat and salt redistributions that reproduce reconstructed long-term North Atlantic SST changes.