Start

//////////////////////////////////////////////////////////////////
//
// This code snippet demonstrates a basic flow of how to link to
// KINGSTAR subsystem and use the APIs to configure subsystem and
// control the EtherCAT network and motion devices.
//
//////////////////////////////////////////////////////////////////

KsError nRet = errNoError;
KsCommandStatus Command = { 0 };
SubsystemStatus Subsystem = { ecatOffline, ecatOffline, 0, 0, 0, {ecatOffline}, {ecatOffline}, {axisOffline} };

// Link to the KINGSTAR subsystem.
// If the KINGSTAR subsystem does not exist, it would create a new KINGSTAR subsystem.
// You have to call this API first before you use other KINGSTAR functions.
nRet = Create(0, 0);

// Check if the subsystem is started.
// A new KINGSTAR subsystem is not started by default.
nRet = GetStatus(&Subsystem, NULL);
if (Subsystem.State == ecatOP)
{
    RtPrintf("Subsystem already started: %x\n", nRet);
}
else if (nRet == errNoError && Subsystem.State == ecatOffline)
{
    // When the subsystem state is ecatOffline, you can use below APIs to configure settings:
    //
    // Subsystem Configuration APIs
    // Axis Variable APIs
    // AddModuleConfiguration()
    // RemoveModuleConfiguration()
    // SetConfigurationAxseCount()
    // SetConfigurationIoCount()
    //
    // If you just want to use the default setting, skip this part and start the subsystem.

    // Start the subsystem. It would change the subsystem state to ecatOP.
    // This function is asynchronous so the network is not started yet when it returns.
    // Use WaitForCommand() for synchronization.
    Command = WaitForCommand(30, TRUE, Start());
}

// Now the subsystem state is ecatOP, you can use below APIs to control the subsystem and devices:
//
// Subsystem Control
// Slave Control
// Axis Control
// IO Control
// Heartbeat
// COM API
// Motion API
//
// You can also change the subsystem state or slave state.
// Please check "Usable EtherCAT states" section and the API pages to find out
// which functions you can use in different states.

// Stop the EtherCAT network before destroying KINGSTAR Subsystem or before re-configuration.
Command = WaitForCommand(5, FALSE, Stop());
if (Command.Error)
{
    RtPrintf("Stop Failed: %d\n", Command.ErrorId);
}

// Terminates the KINGSTAR Subsystem if there is no other application connected to it.
nRet = Destroy();
if (nRet != errNoError)
{
    RtPrintf("Destroy Failed: %x\n", nRet);
}