EtherCAT:EC SET MOTION OPMODE

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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 must be dealt with 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.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 wasn't successfully set into the desired opMode, or if the argument <new opmode> is not valid

Examples

call EC_SET_MOTION_OPMODE(MLeader, VelocityMode)

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