Others
The following table contains other settings.
Name |
Description |
Valid Values |
Default |
|---|---|---|---|
PrintLog |
Print setting and statistics log after communication is stopped. |
0: Off 1: On |
0 |
MessageLevel |
Specify the level that determines which messages will be printed to RTXServerConsole. This setting will override the one set in Modules.ini. |
0: Error Level. Only error message. 1: Warning Level. Error message and warning message. 2: Setting Level. Error message, warning message, and setting message. 3: Debug Level. Error message, warning message, setting message, and debug message. |
0 |
UseAliasAsAxisIndex |
Automatically map the alias no. of the servo to its axis index. If same aliases are set for different servos, an error will be raised and communication cannot be started. |
0: Off 1: On |
0 |
EniFolder |
Set the path of the ENI folder where ENI files are searched by default. |
Null-terminated string that specifies the full path name of the ENI folder. No more than 255 characters. |
C:\eni |
UseLRW |
Use LRW command to send and receive Tx and Rx PDO data. |
0: Off 1: On |
0 |
CopyCmdIfNoFbPdo |
If this option is on, slaves with no position/velocity/torque feedback mapped to the PDO will set the position/velocity/torque feedback equal to the command and also set the corresponding feedback support status. |
0: Off 1: On |
0 |
EniFile[n] |
Set the full ENI file path for the slave whose index is n when UserDef is not set. If UserDef is set, this setting will become unavailable. |
Null-terminated string that specifies the full path name of the ENI file for the slave. No more than 255 characters. |
See the search order of ENI file |
SlaveInitThread |
Specify the number of slave initialization threads. |
1-32 |
32 |
PPMode |
Enable or disable PP mode. |
0: Off 1: On |
0 |
PPStartDelay |
The delay of new set-point bit in control word is set after start profile position movement. |
0-128, Unit:cycle |
3 |
ResetInput |
Reset the input data of a slave when it becomes offline. |
0: Off 1: On |
0 |
ResetOutput |
Reset the output data of a slave when it becomes offline. |
0: Off 1: On |
0 |
PrintLog:
Print the EcPlatform setting and statistics log to console after communication is stopped.
Example:
PrintLog = 1
MessageLevel:
Set the message level that will determine which messages will be printed to RTXServerConsole. This setting will override the one set in Modules.ini.
0: Error level. Only error message.
1: Warning level. Error message and warning message.
2: Setting Level. Error message, warning message, and setting message.
3: Debug level. Error message, warning message, setting message, and debug message.
Example:
MessageLevel = 1
UseAliasAsAxisIndex:
Automatically map the alias no. of the servo to its axis index. If the same alias is set to different servos, an error will be raised and communication cannot be started.
Example:
UseAliasAsAxisIndex = 1
EniFolder:
Set the path of the ENI folder to search for ENI files by default.
Example:
EniFolder = E:\enifolder
UseLRW:
Use LRW command to send and receive Tx and Rx PDO data.
Example:
UseLRW = 1
CopyCmdIfNoFbPdo:
If this option is on, slaves with no position/velocity/torque feedback mapped to the PDO will set the position/velocity/torque feedback equal to the command and also set the corresponding feedback support status.
The position feedback will be set equal to the position command if the Position Actual Value (0x6064) is not mapped to the PDO.
The velocity feedback will be set equal to the velocity command if the Velocity Actual Value (0x606C) is not mapped to the PDO.
The torque feedback will be set equal to the torque command if the Torque Actual Value (0x6077) is not mapped to the PDO.
In each of the above cases, the corresponding feedback support status (Axis Supported Function) is set.
Example:
CopyCmdIfNoFbPdo = 1
EniFile[n]:
Set the full ENI file path for the slave whose index is n when UserDef is not set. If UserDef is set, this setting will become unavailable.
Example:
EniFile[3] = C:\eni\softservo\DX150P.txt
SlaveInitThread:
Specify the number of slave initialization threads. By default, 32 threads will be started for slave initialization. If not too many slaves are connected and 32 initialization threads cost too much system resources, use this setting to reduce the number of initialization threads and save system resources.
Example:
SlaveInitThread = 12
PPMode:
Specify whether to run this EtherCAT network in PP mode. Axes in a PP mode EtherCAT network can be controlled using the PP, HM, PV, and TQ operation modes of EtherCAT. The PMMotion module contains API functions to command these axes.
For additional information, see PM (Profile mode) Motion.
Example:
PPMode = 1
PPStartDelay:
Specify the delay cycle number that new set-point bit in control word is set after start profile position movement.
Example:
PPStartDelay = 3
ResetInput:
Specify whether to reset the input data of a slave when it becomes offline. When enabled, the input data will be reset to 0.
Example:
ResetInput = 1
ResetOutput:
Specify whether to reset the output data of a slave when it becomes offline. When enabled, the output data will be reset to 0.
Example:
ResetOutput = 1