SetConfiguredAxesCount
Configures a number of simulated axes. The number of simulated axes is determined by how much the given value outnumbers the real hardware. If the given number is greater than the number of the real axes, KINGSTAR will display all real axes plus simulated ones. For example, if you have five real axes and you give the number seven, you'll get five real axes plus two simulated axes. If the given number is less than or equal to the number of the real axes, KINGSTAR will display all real axes without simulated ones.
Syntax
KsError SetConfiguredAxesCount(
int Count
);
Parameters
Count: the number of simulated axes. The maximum is 256.
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
Allows a developer to test applications without having all the hardware available. Simulated axes must be created using SetConfiguredAxesCount before they are configured with ConfigureAxis. This function must be called after Create and before Start. Once the link is established the simulated axes cannot be modified.
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 = 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