IMotion.SetAxisCyclicSwitch method

Uses an axis' position to control a switch that triggers a digital output repeatedly. When an axis reaches a certain position, a switch is turned on or off. A switch can be controlled by a forward and backward movement of an axis.

Namespace: IntervalZero.KINGSTAR.Base.Api

Assembly: IntervalZero.KINGSTAR.Base.Api (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

KsCommandStatus SetAxisCyclicSwitch(
       int Index,
       McOutput Output,
       double StartPosition,
       McCamSwitch CyclicSwitch,
       McLengthType IntervalType,
       double Interval,
       McLengthType DurationType,
       double Duration,
       McSource ValueSource
)

Function SetAxisCamSwitch(
       Index As Integer,
       Output As McOutput,
       StartPosition As Double,
       CyclicSwitch As McCamSwitch,
       McLengthType As IntervalType,
       Interval As Double,
       DurationType As McLengthType,
       Duration As Double,
       ValueSource As McSource
) As KsCommandStatus

Parameters

Index [in]

Type: int

The index of an axis. Indexes are zero based. Aliases affect this parameter.

Output [in]

Type: McOutput

Selects which digital output will be controlled by the corresponding track.

StartPosition [in]

Type: double

The position from which the cycle starts.

CyclicSwitch [in]

Type: McCamSwitch

Controls switching actions.

TrackNumber: must be zero.
FirstOnPosition: must be nonnegative. It is the distance relative to each cycle’s starting position.
LastOnPosition: must be positive and greater than FirstOnPosition. It is the distance relative to each cycle’s starting position.
Duration: must be positive.

IntervalType [in]

Type: McLengthType

The type of Interval. mcDistance and mcTime can be used.

Interval [in]

Type: double

The length of a cycle. It depends on the IntervalType you select. This value must be positive.

DurationType [in]

Type: McLengthType

The type of Duration. mcDistance and mcCount can be used.

Duration [in]

Type: double

The duration over which the cycle repeats. It depends on the DurationType you select. This value must be positive.

ValueSource [in]

Type: McSource

Defines the source for axis values. For example, positions. See McSource.

mcCommandedValue, mcSetValue – synchronization on set value. We suggest you use these settings.
mcActualValue – synchronization on actual value. This setting may not be stable.
mcSecondEncoderValue – the actual value read from the second encoder.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

McCamSwitch is a vendor-specific class that defines switches for digital cam.
McOutput is a vendor-specific structure linked to the (physical) outputs. If you are using your servo drive's digital output (DO), you need to use IApi.EnableAxisOutput before IApi.Start.
In the McCamSwitch class, when CamSwitchMode is Position, the following combinations are not supported:
- IntervalType: mcTime, DurationType: mcDistance.
- IntervalType: mcTime, DurationType: mcCount.
SetAxisCyclicSwitch is not affected when modulo axis is enabled. The axis doesn't treat the position as a modulo position. For example, with a modulo value of 360, if FirstOnPosition is set to 360 and LastOnPosition is set to 540, the trigger turns on when the axis rotates 1 cycle and turns off when the axis rotates 1.5 cycles. After enabling modulo axis, we recommend that users:
- Use SetAxisPositionOffset to reset the position, preventing discrepancies between the displayed and internal positions. For example, when the modulo axis value is set to 360, the user might see a position of 0, while the internal position is 360000.
- Use velocity or distance APIs to trigger the switch.

Examples

N/A

Use cases:

The following cases are in the RT/Win32 interface, but they help you understand how a cyclic switch work.

Case 1

A cyclic switch completes its task for the duration.

McOutput outputBit = {
   FALSE,   //Axis or IO module. FALSE = I/O.
   0,       //Index
   0        //Offset
}

McCamSwitch cyclicSwitch = {
   0,    //TrackNumber
   40,   //FirstOnPosition 
   60,   //LastOnPosition
   1,    //AxisDirection. 1 = Positive.
   0,    //CamSwitchMode. 0 = Position.
   0     //Duration. It is not used in this case.
);

Command = SetAxisCyclicSwitch(
   TargetAxis,    //Index
   outputBit,     //Output
   100,           //StartPosition
   cyclicSwitch,  //CyclicSwitch
   mcDistance,    //IntervalType
   100,           //Interval
   mcDistance,    //DurationType
   250,           //Duration
   mcSetValue     //ValueSource
);

Case 2

A cyclic switch is aborted before it completes the task.

McOutput outputBit = {
   FALSE,   //Axis or IO module. FALSE = I/O.
   0,       //Index
   0        //Offset
}

McCamSwitch cyclicSwitch = {
   0,        //TrackNumber
   0,        //FirstOnPosition
   0,        //LastOnPosition
   1,        //AxisDirection. 1 = Positive.
   1,        //CamSwitchMode. 1 = Time.
   0.003     //Duration
);

Command = SetAxisCyclicSwitch(
   TargetAxis,    //Index
   outputBit,     //Output
   100,           //StartPosition
   cyclicSwitch,  //CyclicSwitch
   mcTime,        //IntervalType
   0.005,         //Interval
   mcCount,       //DurationType
   3,             //Duration
   mcSetValue     //ValueSource
);