SetAxisCyclicSwitch

Uses an axis' position to control a switch that triggers a digital output repeatedly. When an axis reaches a certain position, a switch is turned on or off. A switch can be controlled by a forward and backward movement of an axis.

Syntax

KsCommandStatus SetAxisCyclicSwitch(
     int Index,
     McOutput Output,
     double StartPosition,
     McCamSwitch CyclicSwitch,
     McLengthType IntervalType,
     double Interval,
     McLengthType DurationType,
     double Duration,
     McSource ValueSource
);

Parameters

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

Output [in]: selects which digital output will be controlled by the corresponding track. See the McOutput structure.

StartPosition [in]: the position from which the cycle starts.

CyclicSwitch [in]: controls the switching actions. See the McCamSwitch structure.

TrackNumber: must be zero.
FirstOnPosition: must be nonnegative. It is the distance relative to each cycle’s starting position.
LastOnPosition: must be positive and greater than FirstOnPosition. It is the distance relative to each cycle’s starting position.
Duration: must be positive.

IntervalType [in]: the type of Interval. mcDistance and mcTime can be used. See the McLengthType type.

Interval [in]: the length of a cycle. It depends on the IntervalType you select. This value must be positive.

DurationType [in]: the type of Duration. mcDistance and mcCount can be used. See the McLengthType type.

Duration [in]: the duration over which the cycle repeats. It depends on the DurationType you select. This value must be positive.

ValueSource [in]: defines the source for axis values. For example, positions. See the McSource type.

mcCommandedValue, mcSetValue – synchronization on set value. We suggest you use these settings.
mcActualValue – synchronization on actual value. This setting may not be stable.
mcSecondEncoderValue – the actual value read from the second encoder.

Return value

Returns the KsCommandStatus structure.

Remarks

McCamSwitch is a vendor-specific structure that defines switches for digital cam.
McOutput is a vendor-specific structure linked to the (physical) outputs. If you are using your servo drive's digital output (DO), you need to use EnableAxisOutput before Start.
In the McCamSwitch structure, when CamSwitchMode is Position, the following combinations are not supported:
- IntervalType: mcTime, DurationType: mcDistance.
- IntervalType: mcTime, DurationType: mcCount.

Example

Case 1

A cyclic switch completes its task for the duration.

McOutput outputBit = {
   FALSE,   //Axis or IO module. FALSE = I/O.
   0,       //Index
   0        //Offset
}

McCamSwitch cyclicSwitch = {
   0,    //TrackNumber
   40,   //FirstOnPosition 
   60,   //LastOnPosition
   1,    //AxisDirection. 1 = Positive.
   0,    //CamSwitchMode. 0 = Position.
   0     //Duration. It is not used in this case.
);

Command = SetAxisCyclicSwitch(
   TargetAxis,    //Index
   outputBit,     //Output
   100,           //StartPosition
   cyclicSwitch,  //CyclicSwitch
   mcDistance,    //IntervalType
   100,           //Interval
   mcDistance,    //DurationType
   250,           //Duration
   mcSetValue     //ValueSource
);

Case 2

A cyclic switch is aborted before it completes the task.

McOutput outputBit = {
   FALSE,   //Axis or IO module. FALSE = I/O.
   0,       //Index
   0        //Offset
}

McCamSwitch cyclicSwitch = {
   0,        //TrackNumber
   0,        //FirstOnPosition
   0,        //LastOnPosition
   1,        //AxisDirection. 1 = Positive.
   1,        //CamSwitchMode. 1 = Time.
   0.003     //Duration
);

Command = SetAxisCyclicSwitch(
   TargetAxis,    //Index
   outputBit,     //Output
   100,           //StartPosition
   cyclicSwitch,  //CyclicSwitch
   mcTime,        //IntervalType
   0.005,         //Interval
   mcCount,       //DurationType
   3,             //Duration
   mcSetValue     //ValueSource
);

Requirements

	RT	Win32
Minimum supported version	4.1	4.1
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib