EcatFeature Enumeration

An enumeration that selects which MainDevice configuration setting to access.

Namespace: IntervalZero.MaxRT.Ecat.Api
Assembly: IntervalZero.MaxRT.Ecat (in IntervalZero.MaxRT.Ecat.dll) Version: 1.0.0.0 (File version: 1.0.1)

Syntax

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public enum EcatFeature

Members

Name	Value	Description
ecatFeatureCycleTime	0	EtherCAT cycle time in microseconds.
ecatFeatureAutoRestart	1	Automatically restarts the EtherCAT link when the cable connected to the MainDevice is replugged.
ecatFeatureAutoRepair	2	Automatically restarts the EtherCAT link when the cable connected to the SubDevice is replugged.
ecatFeatureAutoConfig	3	Automatically restarts a SubDevice when it is reconnected.
ecatFeatureDc	4	Enables or disables DC synchronization.
ecatFeatureDcReferenceIndex	5	Selects which SubDevice provides the DC reference clock. Note: ecatFeatureDcReferenceIndex is a placeholder. Attempting to set it returns errEcatFeatureUnavailable.
ecatFeatureDcCheck	6	Enables or disables the DC check during the EtherCAT startup.
ecatFeatureDcMainDeviceShift	7	Enables or disables DC MainDevice shift mode. When disabled, bus shift mode is used instead.
ecatFeatureRedundancy	8	Enables or disables the E-CAT Cable Redundancy feature.
ecatFeatureHotConnect	9	Enables or disables the E-CAT Hot Connect feature.
ecatFeatureAccessMode	10	Selects process data transfer mode of axes.
ecatFeatureAxisDigitalInput	11	Whether to map the digital inputs object to the PDO.
ecatFeatureAxisDigitalOutput	12	Whether to map the digital outputs object to the PDO.
ecatFeatureSecondEncoder	13	Whether to map the actual position of the second encoder object to the PDO.
ecatFeatureTorqueOffset	14	Whether to map the torque offset object to the PDO.
ecatFeatureSyncControlMode	15	Enables or disables the synchronized control mode, which puts MOP and MOP Display objects in the PDO and allows axes to switch modes of operation on the fly.
ecatFeatureActualVelocity	16	Whether to map the actual velocity object to the PDO.
ecatFeatureActualTorque	17	Whether to map the actual torque object to the PDO.
ecatFeatureActualCurrent	18	Whether to map the actual current object to the PDO.
ecatFeatureFollowingError	19	Whether to map the following error object to the PDO.
ecatFeatureTouchProbe	20	Whether to map the touch probe objects to the PDO.
ecatFeatureMaxTorque	21	Whether to map the maximum torque object to the PDO.
ecatFeatureMaxCurrent	22	Whether to map the maximum current object to the PDO.
ecatFeatureProfilePosition	23	Whether to map the profile position object to the PDO.
ecatFeatureShutdownHandler	24	Whether to attach a shutdown handler while the EtherCAT connection is being established.
ecatFeatureBulkSynchronization	25	Enables or disables bulk synchronization.
ecatFeatureSyncMultiMainDevice	26	Enables or disables the synchronization of all MainDevices.