IoDrvEtherCAT.FrameAtTaskStart (PROP)¶

PROPERTY FrameAtTaskStart : BOOL

TRUE: The frame for the slave is transferred at the beginning of the task (before the IEC task), which ensures minimum jitter. This command is used to achieve jerk-free movements of servo drives. If this flag is set to TRUE, the frame of the output buffer is written in the next cycle (see diagram below). Default: FALSE (TRUE when using CODESYS SoftMotion)