McControlMode
The mode of how your application, KINGSTAR Subsystem, and servo drives interact with each other. For more information about how each control mode works, see Concepts > Control modes.
| Name | Value | Meaning |
|---|---|---|
| modeNotSet | -1 |
|
| modeManual | 0 | Uses the functions in ksapi.h to control axes. KINGSTAR's motion doesn't control the axes. |
| modeDirectPos | 1 |
Direct Position Mode. Position commands are sent every cycle from the application and directly passed to the drive with no acceleration or deceleration interpolation. No motion is possible in this mode. Commands should be sent with SetAxisPosition. No homing is possible in this mode. NOTE: We suggest you use this mode only for RT API. |
| modeDirectVel | 2 |
Direct Velocity Mode. Velocity commands are sent from the application and directly passed to the drive with no acceleration or deceleration interpolation. No motion is possible in this mode. Commands should be sent with SetAxisVelocity. No homing is possible in this mode. NOTE: We suggest you use this mode only for RT API. |
| modeDirectTor | 3 |
Direct Torque Mode. Torque commands are sent from the application and directly passed to the drive with no acceleration or deceleration interpolation. No motion is possible in this mode. Commands should be sent with SetAxisTorque. No homing is possible in this mode. NOTE: We suggest you use this mode only for RT API. |
| modePidVel | 4 |
PID Velocity Mode. Position commands are sent every cycle from the application. These positions are directly passed to PID with no acceleration or deceleration interpolation. PID will calculate the velocity and send it to the drive. No motion is possible in this mode. Commands should be sent with SetAxisPosition. No homing is possible in this mode. |
| modePidTor | 5 |
PID Torque Mode. Position commands are sent every cycle from the application. These positions are directly passed to PID with no acceleration or deceleration interpolation. PID will calculate the torque and send it to the drive. No motion is possible in this mode. Commands should be sent with SetAxisPosition. No homing is possible in this mode. |
| modeMasterIntPos | 6 | Master Interpolation Position Mode. Position commands are sent from the application. This control mode can be used for single axis movement. It is better for low-end servo drive that don't implement the velocity mode properly. The Subsystem will do an interpolation and send position commands to the servo drive. |
| modeMasterIntVel | 7 | Master Interpolation Velocity Mode. Velocity commands are sent from the application. This is the ideal control mode for multiple axes motion. Motions and absolute or relative move commands can be used. The Subsystem will do an interpolation and a PID before sending velocity commands to the servo drive. |
| modeMasterIntTor | 8 | Master Interpolation Torque Mode. Torque commands are sent from the application. The Subsystem performs interpolation and PID, and sends the torque to the drive. This is the ideal control mode for finely tuned axis motion. Motions and absolute or relative commands can be used. The Subsystem does an interpolation and a PID before sending torque commands to the servo drive. The PID must be tuned because default values won't perform well. |
| modeSlaveInt | 9 | Not supported yet. |