Difference between revisions of "EtherCAT:EC SET MOTION OPMODE"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | This subroutine sets the axis and the drive into a desired motion operational | + | This subroutine sets the axis and the drive into a desired motion operational mode.<br/> |
In EtherCAT it is not enough to set the axis' opmode property. The drive needs to be dealt as well.<br/> | In EtherCAT it is not enough to set the axis' opmode property. The drive needs to be dealt as well.<br/> | ||
According to the new opmode value object 0x6060 is written to the drive via PDO or SDO.<br/> | According to the new opmode value object 0x6060 is written to the drive via PDO or SDO.<br/> | ||
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{{Note/Important| | {{Note/Important| | ||
| − | If the axis is set to Torque Mode, the property sumTorque is set to ON by default!}} | + | If the axis is set to Torque Mode, the property sumTorque is set to ON by default !}} |
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call EC_SET_MOTION_OPMODE(MLeader, VelocityMode) | call EC_SET_MOTION_OPMODE(MLeader, VelocityMode) | ||
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Revision as of 09:03, 14 August 2014
This subroutine sets the axis and the drive into a desired motion operational mode.
In EtherCAT it is not enough to set the axis' opmode property. The drive needs to be dealt as well.
According to the new opmode value object 0x6060 is written to the drive via PDO or SDO.
Opmode set success is confirmed via object 0x6061.
 | IMPORTANT |
| If the axis is set to Torque Mode, the property sumTorque is set to ON by default ! |
Input
Generic axis, new opmode.
Output
None
Return Value
Void
Declaration
Public Sub EC_SET_MOTION_OPMODE(Ax as generic axis, byval new_opmode as long)
Syntax
call EC_SET_MOTION_OPMODE(<Axis>, <new opmode>)
Examples
call EC_SET_MOTION_OPMODE(MLeader, VelocityMode)