SetAxisTorquePid
Configures the PID settings used by an axis in the torque mode.
Syntax
KsError SetAxisTorquePid(
int Index,
McPidSettings Settings
);
Parameters
Index: the index of an axis. Indexes are zero based. Aliases affect this parameter.
Settings: the McPidSettings structure that has all PID settings for the torque mode. You need to fill in every field.
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 can only be used when an axis is power off.
- If you want to use Master Interpolation Torque (
modeMasterIntTor
) or PID Torque (modePidTor
) mode to control the torque sent to the PID, you should use SetAxisControlMode to set an axis's control mode before calling this function.
Example
N/A
Requirements
RT | Win32 | |
---|---|---|
Minimum supported version | 4.0 | 4.0 |
Header | ksmotion.h | ksmotion.h |
Library | KsApi_Rtss.lib | KsApi.lib |
See also