SetConfiguredIoCount

Configures a number of simulated I/O modules. The number of simulated I/Os is determined by how much the given value exceeds the number of the real hardware. If the given number is greater than the number of the real I/Os, KINGSTAR will display all real I/Os plus simulated ones. For example, if you have five real I/Os and you give the number seven, you'll get five real I/Os plus two simulated I/Os. If the given number is less than or equal to the number of the real I/Os, KINGSTAR will display all real I/Os without simulated ones.

Syntax

KsError SetConfiguredIoCount(
     int Count
);

Parameters

Count: the number of simulated I/O modules. 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

This function is only available for use with simulated I/O modules. Simulated I/O modules must be created using SetConfiguredIoCount before they are configured with ConfigureIo. This function must be called after Create and before Start. Once the link is established the simulated I/O modules 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 = 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

ConfigureIo