SetCycleTime

//////////////////////////////////////////////////////////////////
//
// This code snippet demonstrates how to use subsystem configuration
// and axis variable APIs to configure the setting before starting
// KINGSTAR subsystem.
//
//////////////////////////////////////////////////////////////////

// Variable declaration
KsError nRet = errNoError;
KsCommandStatus Command = { 0 };
SubsystemStatus Subsystem = { ecatOffline, ecatOffline, 0, 0, 0, {ecatOffline}, {ecatOffline}, {axisOffline} };
double featStatus = -1.0;

// Link to the KINGSTAR subsystem
nRet = Create(0, 0);

// Configure the subsystem settings
// Before enable the features, please check if the corresponding licenses are all enabled
// in the runtime environment.
nRet = ConfigureDc(TRUE, TRUE, TRUE, 0);
nRet = EnableAutoConfig(TRUE);
nRet = EnableAutoRepair(TRUE);
nRet = EnableAutoRestart(TRUE);
nRet = EnableHotConnect(FALSE);
nRet = EnableRedundancy(FALSE);
nRet = EnableServerLog(FALSE);
nRet = SetCycleTime(cycle500);

// Configure the axis variables
// Before enabling variables in the program, you should:
// 1. Read the user manual to check if the variables are available in the device.
// 2. Check if the corresponding variables are put in the PDO list in ESI import tool.
// For further details, see Help System >> KINGSTAR ESI Import Tool >> Tabs >> PDO.
nRet = EnableActualCurrent(TRUE);
nRet = EnableActualTorque(TRUE);
nRet = EnableActualVelocity(TRUE);
nRet = EnableAxisInput(TRUE);
nRet = EnableAxisOutput(FALSE);
nRet = EnableFollowingError(TRUE);
nRet = EnableMaxCurrent(TRUE);
nRet = EnableMaxTorque(TRUE);
nRet = EnableProfilePosition(FALSE);
nRet = EnableSecondEncoder(FALSE);
nRet = EnableSynchronizedControlMode(TRUE);
nRet = EnableTorqueOffset(FALSE);
nRet = EnableTouchProbe(FALSE);
nRet = SetAxisAccessMode(accessPos); // Refer to KsAccessMode page for detailed introduction

// Subsystem setting can be checked anytime after successfully calling Create().
// It is useful to check the feature status when you save the settings in a .kst file
// and start the subsystem via StartFromConfiguration().
nRet = GetFeatureStatus(KsFeature::featureCycleTime, &featStatus);

// Start the EtherCAT network
// You can only configure the setting before starting the subsystem
// If you need to modify the setting, call Stop() first.
Command = WaitForCommand(30, TRUE, Start());