GetCommandsStatus

Gets the states of commands.

Syntax

KsError GetCommandsStatus(
     int Length,
     KsCommandStatus* Statuses
);

Parameters

Length: the number of commands.

Statuses: the array of commands you want to get their states. It can be filled with the commands whose return type is KsCommandStatus, or a returned KsCommandStatus structure.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Remarks

The value given as Statuses to GetCommandsStatus should not be empty, but be the return value of another command such as Start.
If GetCommandsStatus is used in Win32 and .NET interface, one command's ValueLength (KsCommandStatus) can't be longer than 8 bytes.

Usable EtherCAT states

ecatOffline, ecatInit, ecatBoot, ecatPreOP, ecatSafeOP, ecatOP

Example

Copy

KsCommandStatus Statuses[2] = { {0} };

Statuses[0] = MoveAxisAbsolute(0, 500, 3600, 36000, 36000, 3600000,
                               McDirection::mcPositiveDirection, McBufferMode::mcAborting);
Statuses[1] = MoveAxisAbsolute(0, 1000, 4000, 40000, 40000, 4000000,
                               McDirection::mcPositiveDirection, McBufferMode::mcBlendingLow);

KsError nRet = GetCommandsStatus(2, Statuses);

Requirements

	RT	Win32
Minimum supported version	4.2	4.2
Header	ksapi.h	ksapi.h
Library	KsApi_Rtss.lib	KsApi.lib