Concepts

The following sections provide additional detail on a few key KINGSTAR features and concepts:

• Blend movements – describes how to blend the velocity and paths of two motion commands.
• Camming – describes the cam concept, the cam motion and how to make a cam move in KINGSTAR.
• CANopen – describes how to configure the settings for CANopen devices in KINGSTAR.
• COM port over EtherCAT in RTX64 – describes how to use KINGSTAR COM port API functions to control the COM-port device via EtherCAT.
• Control modes – there are several modes that provide different ways for your controlling how the application, the KINGSTAR Subsystem and the servo drives to interact with each other. This section describes the way each mode works.
• EtherCAT cable redundancy – describes how EtherCAT cable redundancy works.
• Ethernet over EtherCAT – describes the principle of Ethernet over EtherCAT (EoE) and how to configure it in KINGSTAR.
• Feedback delay – describes what feedback delay is, why it happens, and how KINGSTAR deals with it.
• HotConnect, Repair, and Restart – describes how HotConnect, Repair, and Restart work and their use cases.
• Homing – describes how homing modes work.
• IO-Link – describes how to configure the settings for IO-Link devices in KINGSTAR.
• KINGSTAR OPC UA – describes the concept of KINGSTAR OPC UA and how to configure the security settings.
• KINGSTAR subsystem status check – illustrates why we need multiple applications to check the current status of the KINGSTAR subsystem before connecting to it.
• McCircMode – when you use PLCopen MoveCircular APIs, you need to understand how the axes work in different circular modes. This section describes how to define your circular move.
• Modulo Axis – explains the modulo axis concept and provides information about KINGSTAR modulo axis.
• Motion – when you use the PLCopen Move APIs, you need to understand the difference among absolute, relative and additive move. This section describes how they work.
• Motion profile type – when you set the parameters for an axis, the selected motion profile type affects the calculation unit of your axis. This section describes how each motion profile type works.
• Robots – describes the parameters used to build robots.
• Slave PDO mapping – describes how to programmatically create a PDO mapping of a slave.
• Touch probe – configures and uses touch probe to record the position of an axis.
• Unit conversion – describes the concept of KINGSTAR's unit conversion function and how to configure the settings.
• Use SDO to compare the data in hardware and an ESI file – uses SDO API functions to check the consistency of the data in hardware and the ESI file.