RequestState

Requests the KINGSTAR Subsystem to go into the specified EtherCAT state. For example, if the state is Op, and your requested state is PreOp, the KINGSTAR Subsystem will change the state to Op -> SafeOp -> PreOp. If the state is Init and your requested state is Op, the Subsystem will change the state to Init -> PreOp -> SafeOp -> Op.

Requesting the State Offline is equivalent to stopping KINGSTAR.
Requesting the State Op is equivalent to starting KINGSTAR.

Syntax

KsCommandStatus RequestState(
     EthercatState State
);

Parameters

State: the requested EtherCAT state. See the EthercatState type.

Return value

Returns the KsCommandStatus structure.

Usable EtherCAT states

ecatOffline, ecatInit, ecatBoot, ecatPreOP, ecatSafeOP, ecatOP

Example

Copy

WaitForCommand(5, TRUE, RequestState(ecatSafeOP));

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksapi.h	ksapi.h
Library	KsApi_Rtss.lib	KsApi.lib