AmpEnableSet()

void AmpEnableSet ( bool enable, int32_t ampActiveTimeoutMilliseconds )

pure virtual

Parameters

ampActiveTimeoutMilliseconds

How many milliseconds to wait for AMP_ACTIVE / OPERATION_ENABLED before timing out (0 will not wait). Ignored when disabling amp.

Enable all amplifiers.

Description:

AmpEnableSet enables (or disables) all amplifiers.

Parameters

enable

true = enable all, false = disable all.

Warning

AmpEnableSet(true) does not wait for the amp to become fully enabled. Use the AmpEnableSet(bool, int32_t) overload to wait for the amp to become fully enabled.

Attention

For DS402 axes, the RMP firmware will automatically generate an Amp Fault action (default is to Abort) if the AMP_ACTIVE signal does not got high within one second of AmpEnableSet(true). If it fails to enable, the Axis will end in an ERROR state. This value is configurable using RSIAxisAddressType::RSIAxisAddressTypeAMP_ENABLE_AMP_FAULT_TIMEOUT with MotionController::MemoryDoubleGet() and MotionController::MemoryDoubleSet(). The default value is Axis::AmpEnableAmpFaultTimeoutSecondsDefault.

Remarks

This function is also available in RapidSequencer.

Part of the Action method group.

Sample Code:

ConfigAmpFault

  public void EnableAmp(Axis myAxis)
  {
    myAxis.ClearFaults();      // To enable after an abort faults must be cleared.                                 
    myAxis.AmpEnableSet(true); // Enable the motor.
  }      

RapidSetup:

Go to axis screen->Axis Status.

Left: Amp Enabled, Right: Amp Disabled

See also

ClearFaults, RSIAxisAddressType::RSIAxisAddressTypeAMP_ENABLE_AMP_FAULT_TIMEOUT