IApi.EnableSynchronizedControlMode method

Adds the Modes of Operation and Modes of Operation Display variables to PDO. It changes the control mode through PDO instead of SDO, so the control mode can be changed faster (usually in 3-5 cycles). Not all drives support this feature.

Namespace: IntervalZero.KINGSTAR.Base.Api

Assembly: IntervalZero.KINGSTAR.Base.Api (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

KsError EnableSynchronizedControlMode(
       bool Active
)

Function EnableSynchronizedControlMode(
       Active As Boolean
) As KsError

Parameters

Active

Type: bool

true: The Modes of Operation and Modes of Operation Display variables are mapped to PDO. false: Not mapped to PDO. By default, it is false.

Return value

Type: KsError

A return code of a method.

Remarks

This method must be called after Create and before Start.
The control mode can always be changed without disabling the drive as long as your servo drive supports this feature. When EnableSynchronizedControlMode is disabled, the control mode is changed through SDO, which takes more time (about 10 cycles) to complete changing.

Usable EtherCAT states

ecatOffline

Examples

N/A