Api Class

Represents the EtherCAT settings.

Inheritance hierarchy

System.Object
  IntervalZero.KINGSTAR.OpcUa.Api

Namespace: IntervalZero.KINGSTAR.OpcUa.Api

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

Syntax

public class Api

Public Class Api

The Api type exposes the following members.

Constructors

	Name	Description
	Api	Initializes a new instance of the Api class.

Axis control methods

Reads and writes the values relevant to an axis.

	Name	Description
	ForceAxisInputBit	Writes a bit into an input of a simulated axis.
	ForceAxisInputByte	Writes a byte into an input of a simulated axis.
	ForceAxisInputDWord	Writes a double word into an input of a simulated axis.
	ForceAxisInputs	Writes a double word into an input of an axis.
	ForceAxisInputWord	Writes a word into an input of a simulated axis.
	GetAxisBuffers	Provides pointers to the input and output buffers of an axis.
	GetAxisByIndex	Gets information from an axis.
	ReadAxisActualCurrent	Reads the variable (#x6078) of actual current.
	ReadAxisActualPosition	Reads the current position from an axis using the primary encoder.
	ReadAxisActualTorque	Reads the actual torque from an axis.
	ReadAxisActualVelocity	Reads the actual velocity from an axis.
	ReadAxisAlias	Reads an alias index from an axis.
	ReadAxisCustomInput1	Reads the first custom input variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom input variables.
	ReadAxisCustomInput2	Reads the second custom input variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom input variables.
	ReadAxisFollowingError	Reads a following error from an axis.
	ReadAxisInputBit	Reads a bit from an input of a real or simulated axis.
	ReadAxisInputByte	Reads a byte from an input of a real or simulated axis.
	ReadAxisInputDWord	Reads a double word from an input of a real or simulated axis.
	ReadAxisInputs	Reads a value from an input of an axis.
	ReadAxisInputWord	Reads a word from an input of a real or simulated axis.
	ReadAxisMopDisplay	Reads the value of the Modes of Operation Display variable in PDO.
	ReadAxisOutputBit	Reads a bit from an output of a real or simulated axis.
	ReadAxisOutputByte	Reads a byte from an output of a real or simulated axis with a byte offset.
	ReadAxisOutputDWord	Reads a double word from an output of a real or simulated axis.
	ReadAxisOutputs	Reads a value from an output of an axis.
	ReadAxisOutputWord	Reads a word from an output of a real or simulated axis.
	ReadAxisSecondEncoder	Reads the current position from an axis using the secondary encoder.
	ReadAxisStatusWord	Reads the value of the Statusword variable from an axis.
	ReadAxisTouchProbeStatus	Reads the variable (#x60B9) of the touch probe state.
	WriteAxisAlias	Writes an alias index into an axis.
	WriteAxisControlWord	Writes a value of the ControlWord variable into an axis.
	WriteAxisCustomOutput1	Writes a value into the first custom output variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom output variables.
	WriteAxisCustomOutput2	Writes a value into the second custom output variable you added in IntervalZeroDevices database or UserDevices database, in which you can use KINGSTAR ESI Import Tool to add two custom output variables.
	WriteAxisMaxCurrent	Writes the maximum current into an axis.
	WriteAxisMaxTorque	Writes the maximum torque into an axis.
	WriteAxisMop	Writes a value of the Modes of Operation variable into an axis.
	WriteAxisOutputBit	Writes a bit into an output of a real or simulated axis.
	WriteAxisOutputByte	Writes a byte into an output of a real or simulated axis.
	WriteAxisOutputDWord	Writes a double word into an output of a real or simulated axis.
	WriteAxisOutputs	Writes a value into an output of an axis.
	WriteAxisOutputWord	Writes a word into an output of a real or simulated axis.
	WriteAxisProfileAcceleration	Sets the Profile Acceleration of an axis.
	WriteAxisProfileDeceleration	Sets the Profile Deceleration of an axis.
	WriteAxisProfileVelocity	Sets the Profile Velocity of an axis.
	WriteAxisTargetPosition	Sets the target position of an axis.
	WriteAxisTargetTorque	Sets the target torque of an axis.
	WriteAxisTargetVelocity	Sets the target velocity of an axis.
	WriteAxisTorqueOffset	Sets the torque offset of an axis.
	WriteAxisTouchProbeControl	Writes the variable (#x60B8) of touch probe control.

Axis variable methods

Enables the modes for an axis to use.

	Name	Description
	EnableActualCurrent	Adds the actual current variable to PDO.
	EnableActualTorque	Adds the actual torque variable to PDO.
	EnableActualVelocity	Adds the actual velocity variable to PDO.
	EnableAxisInput	Adds the Digital Input variable to the PDO.
	EnableAxisOutput	Adds the Digital Output variable to the PDO.
	EnableFollowingError	Adds the Following Error variable to PDO.
	EnableMaxCurrent	Adds the Maximum Current variable to PDO.
	EnableMaxTorque	Adds the Max Torque variable to PDO.
	EnableProfilePosition	Adds the Profile Velocity, Profile Acceleration, and Profile Deceleration variables to PDO.
	EnableSecondEncoder	Adds the Internal Position variable to PDO.
	EnableSynchronizedControlMode	Adds the Modes of Operation and Modes of Operation Display variables to PDO.
	EnableTorqueOffset	Adds the torque offset variable to PDO.
	EnableTouchProbe	Adds the TouchProbeControl and TouchProbeStatus variables to PDO.
	SetAxisAccessMode	Sets the data transfer mode for EtherCAT drives.

Command methods

The commands that wait, cancel, and get the states of a function.

	Name	Description
	AbortCommand	Cancels a command.
	AbortCommand (byte[])	Cancels a command.
	AbortCommand (byte)	Cancels a command.
	AbortCommand (double)	Cancels a command.
	AbortCommand (int)	Cancels a command.
	AbortCommand (long)	Cancels a command.
	AbortCommand (SdoEntryDescription)	Cancels a command.
	AbortCommand (SdoObjectDescription)	Cancels a command.
	AbortCommand (short)	Cancels a command.
	AbortCommand (uint)	Cancels a command.
	AbortCommand (ulong)	Cancels a command.
	AbortCommand (ushort[])	Cancels a command.
	AbortCommand (ushort)	Cancels a command.
	GetCommandsStatus	Gets the states of commands.
	GetCommandStatus	Gets the state of a command.
	GetCommandStatus (byte[])	Gets the state of a command.
	GetCommandStatus (byte)	Gets the state of a command.
	GetCommandStatus (double)	Gets the state of a command.
	GetCommandStatus (int)	Gets the state of a command.
	GetCommandStatus (long)	Gets the state of a command.
	GetCommandStatus (SdoEntryDescription)	Gets the state of a command.
	GetCommandStatus (SdoObjectDescription)	Gets the state of a command.
	GetCommandStatus (short)	Gets the state of a command.
	GetCommandStatus (uint)	Gets the state of a command.
	GetCommandStatus (ulong)	Gets the state of a command.
	GetCommandStatus (ushort[])	Gets the state of a command.
	GetCommandStatus (ushort)	Gets the state of a command.
	WaitForCommand	Waits a command to be finished.
	WaitForCommand (byte[])	Waits a command to be finished.
	WaitForCommand (byte)	Waits a command to be finished.
	WaitForCommand (double)	Waits a command to be finished.
	WaitForCommand (int)	Waits a command to be finished.
	WaitForCommand (long)	Waits a command to be finished.
	WaitForCommand (SdoEntryDescription)	Waits a command to be finished.
	WaitForCommand (SdoObjectDescription)	Waits a command to be finished.
	WaitForCommand (short)	Waits a command to be finished.
	WaitForCommand (uint)	Waits a command to be finished.
	WaitForCommand (ulong)	Waits a command to be finished.
	WaitForCommand (ushort[])	Waits a command to be finished.
	WaitForCommand (ushort)	Waits a command to be finished.
	WaitForCommandAsync	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (byte[])	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (byte)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (double)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (int)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (long)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (SdoEntryDescription)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (SdoObjectDescription)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (short)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (uint)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (ulong)	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (ushort[])	Waits a command to be finished as an asynchronous operation.
	WaitForCommandAsync (ushort)	Waits a command to be finished as an asynchronous operation.

Debug methods

Sends a log to your KINGSTAR application and identifies it.

	Name	Description
	DebugMessage	Sends the KINGSTAR log messages to KINGSTAR Analysis Console.
	GetCategoryName	Gets a string assigned to a log ID.
	SetCategoryName	Sets a string to associate to a log ID.

Heartbeat methods

Detects whether the motion application is running properly by sending periodic signals to KINGSTAR.

	Name	Description
	PulseHeartbeat	Sends a signal to notify KINGSTAR that the motion application is running properly.
	SetHeartbeat	Configures the heartbeat settings, which periodically checks whether the motion application is running properly.

I/O control methods

Reads and writes values into an I/O module, or get information from it.

	Name	Description
	ForceInputBit	Writes a bit into an input of a simulated I/O module.
	ForceInputByte	Writes a byte into an input of a simulated I/O module.
	ForceInputDWord	Writes a double word into an input of a simulated I/O module.
	ForceInputWord	Writes a word into an input of a simulated I/O module.
	GetIOBuffers	Provides pointers to the input and output buffers of an I/O module.
	GetIOByIndex	Gets the information from a specified real or simulated I/O module.
	ReadInputBit	Reads a bit from an input of a real or simulated I/O module.
	ReadInputByte	Reads a byte from an input of a real or simulated I/O module.
	ReadInputDWord	Reads a double word from an input of a real or simulated I/O module.
	ReadInputWord	Reads a word from an input of a real or simulated I/O module.
	ReadIOAlias	Reads the alias index from a real or simulated I/O module.
	ReadOutputBit	Reads a bit from an output of a real or simulated I/O module.
	ReadOutputByte	Reads a byte from an output of a real or simulated I/O module with a byte offset.
	ReadOutputDWord	Reads a double word from an output of a real or simulated I/O module.
	ReadOutputWord	Reads a word from an output of a real or simulated I/O module.
	WriteIOAlias	Writes the alias index into a real or simulated I/O module.
	WriteOutputBit	Writes a bit into an output of a real or simulated I/O module.
	WriteOutputByte	Writes a byte into an output of a real or simulated I/O module.
	WriteOutputDWord	Writes a double word into an output of a real or simulated I/O module.
	WriteOutputWord	Writes a word into an output of a real or simulated I/O module.

KINGSTAR memory methods

Reads and writes the KINGSTAR shared memory.

	Name	Description
	GetMemoryPointer	Gets the pointer to the address of the data in the shared memory.
	ReadMemoryBit	Reads a bit from the shared memory.
	ReadMemoryByte	Reads a byte from the shared memory.
	ReadMemoryDWord	Reads a double word from the shared memory.
	ReadMemoryLWord	Reads a quad word from the shared memory.
	ReadMemoryWord	Reads a word from the shared memory.
	WriteMemoryBit	Writes a bit into the shared memory.
	WriteMemoryByte	Writes a byte into the shared memory.
	WriteMemoryDWord	Writes a double word into the shared memory.
	WriteMemoryLWord	Writes a quad word into the shared memory.
	WriteMemoryWord	Writes a word into the shared memory.

Mailbox methods

Exchanges data between the EtherCAT master and slave.

	Name	Description
	AoeReadCommand	Reads data through ADS over EtherCAT (AoE).
	AoeReadSdoObject	Reads data from a slave using the ADS over EtherCAT (AoE) SDO method.
	AoeReadWriteCommand	Reads and writes data through ADS over EtherCAT (AoE) at the same time.
	AoeWriteCommand	Writes data through ADS over EtherCAT (AoE).
	AoeWriteControlCommand	Sends a command to the device through ADS over EtherCAT (AoE).
	AoeWriteSdoObject	Writes data to a slave using the ADS over EtherCAT (AoE) SDO method.
	CoeReadSdoEntryDescription	Reads the description of an entry of an object dictionary from an SDO object through CANopen over EtherCAT (CoE).
	CoeReadSdoObject	Reads the value of an SDO object through CANopen over EtherCAT (CoE).
	CoeReadSdoObjectDescription	Reads the description of an SDO object through CANopen over EtherCAT (CoE).
	CoeReadSdoODList	Reads the list of object inddexes in a dictionary table using the CANopen over EtherCAT (CoE) SDO method.
	CoeWriteSdoObject	Writes the value of an SDO object through CANopen over EtherCAT (CoE).
	EoeSetSlaveEoeIp	Configures an EtherCAT slave's Ethernet over EtherCAT (EoE) network settings.
	FoeReadFileToBuffer	Reads the servo drive's file and saves it in the user application's memory space.
	FoeReadFileToFile	Reads the servo drive's file and saves it on the local machine.
	FoeWriteFileFromBuffer	Reads a file from the local buffer and writes it to the device.
	FoeWriteFileFromFile	Reads a file on the local machine and writes it to the device.
	ReadAxisSdoObject	Reads a value of an SDO object from an axis.
	ReadIOSdoObject	Reads a value of an SDO object from an I/O module.
	RegisterMailboxCallback	Registers a function that the KINGSTAR Subsystem will call when a mailbox message comes in.
	SoeReadSsc	Uploads data from an EtherCAT slave to the EtherCAT master through SoE (Servo drive profile over EtherCAT).
	SoeWriteSsc	Downloads data from the EtherCAT master to a EtherCAT slave through SoE (Servo drive profile over EtherCAT).
	VoeWrite	Writes data into a VoE-enabled device through VoE (Vendor-specific protocol over EtherCAT).
	WriteAxisSdoObject	Writes the value of an SDO object into an axis.
	WriteIOSdoObject	Writes the value of an SDO object into an I/O module.

Modular slaves methods

Configures the devices that cannot be detected by auto-configuration.

	Name	Description
	AddModuleConfiguration (CanOpenSetting)	Adds a CANopen device that auto-configuration cannot detect.
	AddModuleConfiguration (EcatMdpSetting)	Adds a Modular Device Profile (MDP) that auto-configuration cannot detect.
	AddModuleConfiguration (El6695Setting)	Adds an EL6695 device that auto-configuration cannot detect.
	AddModuleConfiguration (EsiSetting)	Manually select a compatible ESI definition for a device and override the EtherCAT auto-configuration.
	AddModuleConfiguration (IoLinkSetting)	Adds an IO-Link device that auto-configuration cannot detect.
	AddModuleConfiguration (SafetySetting)	Adds a safety device that auto-configuration cannot detect.
	GetConfiguredModuleCount	Gets the number of the configured devices.
	GetModuleConfiguration	Gets the information of the configured device.
	RemoveModuleConfiguration	Removes the configured device.

Simulated hardware methods

Configures simulated hardware.

	Name	Description
	ConfigureAxis	Configures the settings of a simulated axis.
	ConfigureIo	Configures the settings of a simulated I/O module.
	GetConfiguredAxesCount	Gets the number of simulated axes.
	GetConfiguredIoCount	Gets the number of simulated I/O modules.
	SetConfiguredAxesCount	Configures a number of simulated axes.
	SetConfiguredIoCount	Configures a number of simulated I/O modules.

Slave control methods

Reads and writes data from an EtherCAT slave.

	Name	Description
	GetSlaveById	Gets detailed information from a specified slave using an ID.
	OverrideSlavePdoConfiguration	Changes the input and output PDO length of the device to the new values. This can be used to programmatically set the configuration of a device.
	ReadAllSlaveEEprom	Reads all data from a slave's EEPROM.
	ReadSlaveAlias	Reads the alias address from an EtherCAT slave.
	ReadSlaveEEprom	Reads a double word from a slave's EEPROM.
	ReadSlaveRegister	Reads data from an EtherCAT slave's register.
	ReloadSlaveEEprom	Reloads a slave's EEPROM.
	RequestSlaveState	Requests an EtherCAT slave to go into the specified EtherCAT state.
	ResetSlaveEsc	Resets a slave's EtherCAT slave controller.
	RestartSlave	Restarts the specified slave.
	WriteAllSlaveEEprom	Writes all data into a slave's EEPROM.
	WriteSlaveAlias	Writes an alias address into an EtherCAT slave.
	WriteSlaveEEprom	Writes a double word into a slave's EEPROM.
	WriteSlaveRegister	Writes data into an EtherCAT slave's register.

Subsystem configuration methods

Configures the KINGSTAR Subsystem settings.

	Name	Description
	ConfigureDc	Configures distributed clock (DC) options.
	EnableAutoConfig	Allows auto-config to be enabled. It automatically configures the EtherCAT settings for your servo drives.
	EnableAutoRepair	Allows auto-repair to be enabled.
	EnableAutoRestart	Allows for auto-restart to be enabled.
	EnableHotConnect	Allows new hardware to be added while the EtherCAT network is running.
	EnableRedundancy	Enables cable redundancy.
	EnableServerLog	Enables the connection messages from the KINGSTAR runtime on RTX64 console.
	EnableShutdownHandler	Attaches a shutdown handler while an EtherCAT connection is being established.
	GetFeatureStatus	Gets the current state of a feature from the subsystem.
	SetCycleTime	Sets the EtherCAT cycle time.
	SetFeatureStatus	Sets the subsystem's feature.

Subsystem control methods

Starts, stops, and check the state of the KINGSTAR Subsystem.

	Name	Description
	Connect	Connects to a runtime computer. First API to call.
	Create	Prepares to link a program to the KINGSTAR Subsystem.
	CreateAsync	Prepares to link a program to the KINGSTAR Subsystem as an asynchronous operation.
	Destroy	Closes the link to the KINGSTAR Subsystem and terminates the Subsystem.
	DestroyAsync	Closes the link to the KINGSTAR Subsystem and terminates the Subsystem as an asynchronous operation.
	Disconnect	Disconnects from the runtime computer.
	EnableAliases	Enables the alias indexes for the axis and I/O index parameters in all methods.
	GetAliasesStatus	Checks whether the program has enabled aliasing through EnableAliases.
	GetDCSystemTime	Gets the time stamp of the selected Sync0's signal of the distributed clock (DC).
	GetStatus	Gets the state of an EtherCAT link.
	GetStatusEx	Gets the extended state of an EtherCAT link.
	Log	Records the specified data in the logging shared memory.
	ReadLogData	The method is defined in remote interface and is used to read logged data from runtime machine.
	RegisterCallback	Registers a method that the KINGSTAR Subsystem will call every cycle when new data comes in.
	RequestState	Requests the KINGSTAR Subsystem to go into the specified EtherCAT state.
	Restart	Restarts the EtherCAT master.
	Start	Starts the KINGSTAR Subsystem.
	StartFromConfiguration	Starts the KINGSTAR Subsystem using the configuration file created by KINGSTAR Configuration Tool.
	Stop	Stops the EtherCAT network and the KINGSTAR Subsystem.
	StopLog	Stops recording the specified data in the logging shared memory.
	SubsystemIsRunning	Allows the users to check if the KINGSTAR Subsystem process is running without starting it if it is not. This can be used before Create and after Destroy.
	Unlink	Disconnects the application from KINGSTAR without terminating the KINGSTAR Subsystem.

Trigger methods

Sets or gets a trigger that is used to start a new move.

	Name	Description
	GetTrigger	Gets the details of a trigger.
	SetTrigger	Configures a trigger.

Variable table

Allows users to define their own variables and use them in their applications and KINGSTAR tools.

	Name	Description
	AddVariable	Adds a user-defined variable.
	GetVariable	Gets the details of a user-defined variable.
	GetVariables	Gets the list of user-defined variables.
	ReadBoolVariable	Reads a bool value from a variable.
	ReadByteVariable	Reads an 8-bit unsigned integer value from a variable.
	ReadDIntVariable	Reads an integer value from a variable.
	ReadDoubleVariable	Reads a double value from a variable.
	ReadDWordVariable	Reads an unsigned integer value from a variable.
	ReadFloatVariable	Reads a float value from a variable.
	ReadIntVariable	Reads a short integer value from a variable.
	ReadLIntVariable	Reads a long integer value from a variable.
	ReadLWordVariable	Reads an unsigned long integer value from a variable.
	ReadRawVariable	Reads a byte array from a variable.
	ReadSIntVariable	Reads an 8-bit integer value from a variable.
	ReadWordVariable	Reads an unsigned short integer value from a variable.
	RemoveVariable	Removes a user-defined variable.
	WriteVariable (bool)	Writes a bool value into a variable.
	WriteVariable (byte)	Writes an 8-bit unsigned integer value into a variable.
	WriteVariable (byte[])	Writes a byte array into a variable.
	WriteVariable (double)	Writes a double value into a variable.
	WriteVariable (float)	Writes a float value into a variable.
	WriteVariable (int)	Writes an integer value into a variable.
	WriteVariable (long)	Writes a long integer value into a variable.
	WriteVariable (sbyte)	Writes an 8-bit integer value into a variable.
	WriteVariable (short)	Writes a short integer value into a variable.
	WriteVariable (uint)	Writes an unsigned integer value into a variable.
	WriteVariable (ulong)	Writes an unsigned long integer value into a variable.
	WriteVariable (ushort)	Writes an unsigned short integer value into a variable.

See also

IntervalZero.KINGSTAR.OpcUa.Api Namespace