EnableAxisInput
Adds the Digital Input variable to the PDO. Not all servo drives support this feature.
Syntax
KsError EnableAxisInput(
BOOL Active
);
Parameters
Active: TRUE: the Digital Input variable is mapped to PDO. FALSE: not mapped to PDO. By default, it is FALSE.
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
- This function must be called after Create and before Start.
- The first three bits of the inputs are Negative Overtravel, Positive Overtravel, and Home Sensor. If you enable the inputs, you can access the Overtravel bits.
Usable EtherCAT states
ecatOffline
Example
BOOL StartKingstar() {
//Launch or connect to the KINGSTAR Subsystem process
KsError nRet = errNoError;
nRet = Create(INSTANCE, 0);
SubsystemStatus Subsystem = { ecatOffline, ecatOffline, 0, 0, 0,
{ecatOffline}, {ecatOffline}, {axisOffline} };
GetStatus(&Subsystem, NULL);
if (Subsystem.State == ecatOP) {
RtPrintf("Subsystem already started: %x\n", nRet);
return TRUE;
}
else if (Subsystem.State != ecatOffline) {
RtPrintf("Subsystem in unexpected state: %d\n", Subsystem.State);
return FALSE;
}
//Configure the Subsystem settings
nRet = SetCycleTime(cycle500);
nRet = SetAxisAccessMode(accessPos);
nRet = EnableServerLog(FALSE);
nRet = EnableAxisInput(TRUE);
nRet = EnableAxisOutput(FALSE);
nRet = EnableSecondEncoder(FALSE);
nRet = EnableActualVelocity(TRUE);
nRet = EnableActualTorque(TRUE);
nRet = EnableActualCurrent(TRUE);
nRet = EnableFollowingError(TRUE);
nRet = EnableMaxTorque(TRUE);
nRet = EnableMaxCurrent(TRUE);
nRet = EnableTorqueOffset(FALSE);
nRet = EnableProfilePosition(FALSE);
nRet = EnableSynchronizedControlMode(TRUE);
nRet = EnableAutoRestart(TRUE);
nRet = EnableAutoRepair(TRUE);
nRet = EnableAutoConfig(TRUE);
nRet = ConfigureDc(TRUE, TRUE, FALSE, 0);
nRet = EnableHotConnect(TRUE);
nRet = EnableRedundancy(TRUE);
nRet = SetConfiguredAxesCount(1);
nRet = SetConfiguredIoCount(3);
SlaveStatus simulatedIo = { 0 };
simulatedIo.InputLength = 16;
simulatedIo.OutputLength = 16;
for (int i = 0; i < IO_COUNT; i++) {
nRet = ConfigureIo(i, simulatedIo);
}
SlaveStatus axisDefinition = { "Simulated Axis", 0 };
ConfigureAxis(0, axisDefinition, 131072);
//Start the EtherCAT network
//This function is asynchronous so the network is not started yet when it returns
KsCommandStatus status = WaitForCommand(30, TRUE, Start());
return TRUE;
}
Requirements
RT | Win32 | |
---|---|---|
Minimum supported version | 4.0 | 4.0 |
Header | ksapi.h | ksapi.h |
Library | KsApi_Rtss.lib | KsApi.lib |
See also