Difference between revisions of "EtherCAT:EC SET MOTION OPMODE"

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|DESCRIPTION=
 
|DESCRIPTION=
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This subroutine sets the axis and the drive into a desired motion operational mode.<br/>
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This subroutine sets the axis and the drive to a motion operational mode.<br/>
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In EtherCAT it is not enough to set the axis' opmode property. The drive must be dealt with as well.<br/>
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In EtherCAT it is not sufficient to set the axis opmode property. The drive opmode must also be set.<br/>
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According to the new opmode value object 0x6060 is written to the drive via PDO or SDO.<br/>
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The value of object 0x6060 is written to the drive via PDO or SDO according to the new opmode.<br/>
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Opmode set success is confirmed via object 0x6061.<br/>
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Object 0x6061 confirms whether the opmode is correctly set.<br/>
  
 
{{Note/Important|
 
{{Note/Important|
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If the axis is set to Torque Mode, the property [[MC-Basic:axis.SUMTORQUE|sumTorque]] is set to ON by default !}}
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If the axis is set to Torque Mode, the property [[MC-Basic:axis.SUMTORQUE|sumTorque]] is set to ON by default!}}
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|INPUT=
 
|INPUT=
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|EXCEPTIONS=
 
|EXCEPTIONS=
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This subroutine throws the exception EC_OPMODE_CHANGE_FAILED if the drive wasn't successfully set into the desired opMode,
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This subroutine throws the exception EC_OPMODE_CHANGE_FAILED if the drive was not successfully set to the desired opmode,
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or if the argument <new opmode> is not valid
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or if the argument <new opmode> is not valid.
  
 
|DECLARATION=
 
|DECLARATION=

Revision as of 13:37, 13 January 2015

This subroutine sets the axis and the drive to a motion operational mode.
In EtherCAT it is not sufficient to set the axis opmode property. The drive opmode must also be set.
The value of object 0x6060 is written to the drive via PDO or SDO according to the new opmode.
Object 0x6061 confirms whether the opmode is correctly set.

IMPORTANT.svgIMPORTANT
If the axis is set to Torque Mode, the property sumTorque is set to ON by default!

Input

Generic axis
New opmode - POSITIONMODE, VELOCITYMODE or TORQUEMODE

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>)

Exceptions

This subroutine throws the exception EC_OPMODE_CHANGE_FAILED if the drive was not successfully set to the desired opmode, or if the argument <new opmode> is not valid.

Examples

call EC_SET_MOTION_OPMODE(MLeader, VelocityMode)

See Also

Retrieved from "http://softmc.servotronix.com/index.php?title=EtherCAT:EC_SET_MOTION_OPMODE&oldid=125315"