EtherCAT:EC REMAP MINIMUM PDOS

This subroutine remaps the PDO's of a certain drive to the required minimum objects that allow sync position mode.

	IMPORTANT
	This subroutine must be invoked before EC_SETUP.PRG in executed, or right at the beginning of it, to allow MC to first rescan the slaves and get updated with the new PDO mapping of the devices

Input

Motion cycle time: 4000 μs, 2000 μs, 1000 μs, 500 μs or 250 μs. If 500 μs or 250 μs cycle time is chosen, add to /FFS0/FWCONFIG the line: hpetfreq = 2000

Output

None

Return Value

None

Declaration

public sub EC_SET_BUS_CYCLETIME(byval cycle_time as long)

Syntax

call EC_SET_BUS_CYCLETIME(<cycle_time>)

Examples

call EC_SET_BUS_CYCLETIME(4000)

See Also

• EC_GET_BUS_CYCLETIME
• Setup EtherCAT - How to setup EtherCAT