KsAccessMode enumeration

The data transfer mode for drives. By default, the access mode is accessVelPos (4).

If your drive supports only PDO assignment, it cannot switch the access mode when it is connected to KINGSTAR (online), even if you use a mixed mode such as accessVelPos. To know whether your drive can switch the access mode online, check its ESI file. Find the <Mailbox> tag. If both PdoAssign and PdoConfig are true, the drive is able to switch the access mode online. If only PdoAssign is true, the drive cannot switch online—you must disconnect the drive to switch its access mode.

The following is an ESI example that supports only PDO assignment.

Copy

<Mailbox>
  <CoE PdoAssign="1" PdoConfig="0" SdoInfo="0" CompleteAccess="0" SegmentedSdo="1">
  </CoE>
  <FoE/>
</Mailbox>

Namespace: IntervalZero.KINGSTAR.Base

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

Syntax

C#VB

public enum KsAccessMode

Public Enum KsAccessMode

Members

Member name	Value	Description
accessPos	0	Position commands are sent to the drives. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectPos`, `modeMasterIntPos`, `modeSlaveInt`. By default, it uses `modeMasterIntPos`.
accessVel	1	Velocity commands are sent to the drives. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectVel`, `modeMasterIntVel`, `modePidVel`. By default, it uses `modeMasterIntVel`.
accessTor	2	Torque commands are sent to the drives. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectTor`, `modeMasterIntTor`, `modePidTor`. By default, it uses `modeMasterIntTor`.
accessPosVel	3	Drives use position commands by default but can be switched to velocity commands. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectPos`, `modeMasterIntPos`, `modeDirectVel`, `modeMasterIntVel`, `modePidVel`, `modeSlaveInt`. By default, it uses `modeMasterIntPos`.
accessVelPos	4	Drives use velocity commands by default but can be switched to position commands. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectVel`, `modeMasterIntVel`, `modePidVel`, `modeDirectPos`, `modeMasterIntPos`, `modeSlaveInt`. By default, it uses `modeMasterIntVel`.
accessPosVelTor	5	Drives use position commands by default but can be switched to velocity or torque commands. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectPos`, `modeMasterIntPos`, `modeSlaveInt`, `modeDirectVel`, `modeMasterIntVel`, `modePidVel`, `modeDirectTor`, `modeMasterIntTor`, `modePidTor`. By default, it uses `modeMasterIntPos`.
accessVelPosTor	6	Drives use velocity commands by default but can be switched to position or torque commands. In this mode the following control mode is allowed to use: `modeManual`, `modeDirectVel`, `modeMasterIntVel`, `modePidVel`, `modeDirectPos`, `modeMasterIntPos`, `modeSlaveInt`, `modeDirectTor`, `modeMasterIntTor`, `modePidTor`. By default, it uses `modeMasterIntVel`.