GetAxisByIndex

Gets information from an axis.

Syntax

KsError GetAxisByIndex(
     int Index,
     SlaveStatus* Details,
     int* Resolution,
     DWORD* InputVariables,
     DWORD* OutputVariables
);

Parameters

Index: the index of an axis. Indexes are zero based. Aliases affect this parameter.

Details: pointer to the SlaveStatus structure that receives the axis information.

Resolution: the encoder resolution of the axis.

InputVariables: the input variables available in the PDO data. The table below shows the bit masks of InputVariables.

OutputVariables: the output variables available in the PDO data. The table below shows the bit masks of OutputVariables.

Bit mask for InputVariables

Hexadecimal bit mask	Variable
0x1	VAR_STATUS_WORD
0x2	VAR_ACTUAL_POSITION
0x4	VAR_SECOND_ENCODER
0x8	VAR_ACTUAL_VELOCITY
0x10	VAR_ACTUAL_TORQUE
0x20	VAR_TOUCH_PROBE_STATUS
0x40	VAR_MOP_DISPLAY
0x80	VAR_AXIS_INPUTS

Bit mask for OutputVariables

Hexadecimal bit mask	Variable
0x1	VAR_CONTROL_WORD
0x2	VAR_TARGET_POSITION
0x4	VAR_TARGET_VELOCITY
0x8	VAR_TARGET_TORQUE
0x10	VAR_TORQUE_OFFSET
0x20	VAR_TOUCH_PROBE_CONTROL
0x40	VAR_MOP
0x80	VAR_AXIS_OUTPUTS

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

Gets the axis and its encoder resolution details. Used after the KINGSTAR Subsystem is started.

Usable EtherCAT states

ecatOP

Example

VOID PrintAxisInformation(INT Index) {
   SlaveStatus moduleStatus = { 0 };
   int resolution = 0;
   KsError nRet = GetAxisByIndex(Index, &moduleStatus, &resolution, NULL, NULL);

   AxisState state = axisOffline;
   nRet = GetAxisState(Index, &state);
   RtPrintf("Device %d %s: Vendor 0x%x, Product 0x%x, Revision 0x%x, Serial 0x%x\n", Index, 
	moduleStatus.Name, moduleStatus.VendorId, moduleStatus.ProductCode, 
	moduleStatus.RevisionNumber, moduleStatus.SerialNumber);

   RtPrintf("Address: Auto %d, Fixed %d, Alias %d\n", moduleStatus.SlaveId, 
	moduleStatus.PhysAddress, moduleStatus.AliasAddress);

   RtPrintf("PDO: Input len %d, Output len %d, Index offset 0x%x\n", moduleStatus.InputLength, 
	moduleStatus.OutputLength, moduleStatus.VariableIndexOffset);

   RtPrintf("State %d, Cycle time %d\n", moduleStatus.State, moduleStatus.CycleTime);
}

Requirements

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