SampleRateSet()

void SampleRateSet

(

double

sampleRate

)

Configure the RMP firmware control loop frequency.

Parameters

sampleRate

The desired sample rate in Hertz. Valid range: [100.0, 100000.0] Hz. On Windows/INtime systems, this value must be a multiple of the INtime kernel clock rate. The default value is SampleRateDefault.

Sets the real-time loop frequency for the RMP controller. The sample rate dictates how often the firmware executes its control algorithms and exchanges EtherCAT process data with the network.

After changing the sample rate, you must regenerate the EtherCAT ENI (NetworkEniGenerate()) configuration file before starting the network.

Attention

• Some EtherCAT devices only support specific discrete rates; verify compatibility before applying.

Warning

• Increasing the sample rate above 1000 Hz may require changes to the value at RSIControllerAddressTypeFRAME_SEND_RECEIVE_MICROSECONDS.

See also

NetworkEniGenerate(), SampleRateGet(), SampleRateDefault, AddressGet()

Examples

SyncInterrupt.cpp.