EnableAxisUnitConversion

Enables the axis to use a real-world unit. Changing the unit affects the position and velocity. You need to update MinimumFollowingError, MaximumFollowingError in McProfileSettings and MinimumOutput, MaximumOutput in McPidSettings.

Syntax

KsError EnableAxisUnitConversion(
     int Index,
     BOOL Active
);

Parameters

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

Active: TRUE: use a real-world unit. FALSE: use the count unit.

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

The default is the count (pulse) system. In the count system, the position unit is count and the velocity unit is count per second.
In the real-world system, KINGSTAR Subsystem converts the functions to count units using the conversion ratio defined in SetAxisCountsPerUnit and SetAxisSecondEncoderCountsPerUnit.
To use this function, first you need to change the numerator and denominator. Second, you need to update the PID gain values and motion interpolation parameters to match the user-defined unit. This can only be done when the axis is disabled.

Example

VOID ConfigureUnit(INT Index) {
   SlaveStatus moduleStatus = { 0 };
   int resolution = 0;
   KsError nRet = GetAxisByIndex(Index, &moduleStatus, &resolution, NULL, NULL);
   nRet = SetAxisCountsPerUnit(Index, resolution, UNITS_PER_REVOLUTION, FALSE);
   nRet = EnableAxisUnitConversion(Index, TRUE);
}

Requirements

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