GetStatus

Gets the state of an EtherCAT link. Use this function to see when the link has been established. After the link is established you can access the number of I/O and servo modules.

Syntax

KsError GetStatus(
     SubsystemStatus* Status,
     SubsystemDiagnostics* Diagnostics
);

Parameters

Status: pointer to the SubsystemStatus structure that shows the state of the EtherCAT link.

Diagnostics: pointer to the SubsystemDiagnostics structure that shows the diagnostics information of EtherCAT slaves' state.

Return value

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

Usable EtherCAT states

ecatOffline, ecatInit, ecatBoot, ecatPreOP, ecatSafeOP, ecatOP

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