ServiceChannelWrite() [4/4]

void ServiceChannelWrite	(	int32_t	index,
		int32_t	subIndex,
		int32_t	byteCount,
		int32_t	sdoValue,
		uint32_t	timeoutMilliseconds
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Description:

Write a number to the SDO. The index, subIndex, byteCount, and valid numeric values are drive specific. Refer to the drive manual to determine these values.

Parameters

index	The memory address to write to
subIndex	The sub index to write to
byteCount	The number of bytes to write
sdoValue	The numeric value to write

Remarks

This function is also available in RapidSequencer.

HomingWithAKDdrive

 
      // 1. READY DRIVE
      axis.OperationModeSet(RSIOperationMode.RSIOperationModeHOMING_MODE); // Mode of Operation set to Homing Mode.
      axis.NetworkNode.AKDASCIICommand("DRV.OPMODE 2");                    // Sets the drive operation mode (0 - current | 1 = velocity | 2 = position).
      axis.NetworkNode.AKDASCIICommand("HOME.AUTOMOVE 0");                 // 0 = Disabled | 1 = Homing starts when drive is enabled.
 
      // Make sure you know your motor's position, velocity, and acceleration units before you send any values.                
 
      // 2. SET YOUR LIMIT SWITCHES
      axis.NetworkNode.AKDASCIICommand("DIN5.MODE 18"); // Sets the digital input modes.                        - DI5 is now our Positive Limit Switch.
      axis.NetworkNode.AKDASCIICommand("DIN5.INV 1");   // Sets the indicated polarity of a digital input mode. - DI5 is now active when Low.
      axis.NetworkNode.AKDASCIICommand("DIN6.MODE 19"); // Sets the digital input modes.                        - DI6 is now our Negative Limit Switch.
      axis.NetworkNode.AKDASCIICommand("DIN6.INV 1");   // Sets the indicated polarity of a digital input mode. - DI6 is now active when Low.
 
      // 3. CONFIGURE DRIVE HOMING PARAMETERS
      axis.NetworkNode.AKDASCIICommand("HOME.MODE 1");    // Selects the homing method. MODE1 = Find limit input
      axis.NetworkNode.AKDASCIICommand("HOME.V 20");
      axis.NetworkNode.AKDASCIICommand("HOME.ACC 200");
      axis.NetworkNode.AKDASCIICommand("HOME.DEC 200");
      axis.NetworkNode.AKDASCIICommand("HOME.DIR 0");     // Sets homing direction (0 = negative | 1 = positive)
      axis.NetworkNode.AKDASCIICommand("HOME.P 0");
      axis.NetworkNode.AKDASCIICommand("HOME.DIST 0");
      axis.NetworkNode.AKDASCIICommand("HOME.MAXDIST 0");
      axis.NetworkNode.AKDASCIICommand("HOME.IPEAK");
 
      // 4. READY AXIS
      axis.ErrorLimitActionSet(RSIAction.RSIActionNONE); //Set the action to none so we don't get a position error while the drive is in control.
      axis.Abort();                        // Disable axis.
      axis.ClearFaults();                  // Clear any faults.
      axis.AmpEnableSet(true);             // Enable the axis.
      System.Threading.Thread.Sleep(100);  // Allow time for amp enable
 
      // 5. START HOMING
      axis.NetworkNode.AKDASCIICommand("HOME.MOVE"); // Starts a homing procedure; active in opmode 2 (position) only.
      Console.WriteLine("HOME.MOVE");
 
      // 6. CHECK IF HOMING IS DONE
      UInt16 statusWordValue;
      int isHomedvalue = 0;
      int axisIndex = axis.NumberGet();
 
      while (isHomedvalue != 1) // When isHomedValue = 1, homing has finished.
      {
        statusWordValue = axis.NetworkNode.StatusWordGet(axisIndex);
        isHomedvalue = statusWordValue >> 12; // Get the 12th bit only. This bit tells us homing is done when it goes HIGH.
      }
 
      Console.WriteLine("Axis homed.");
 
      // 7. CLEAN UP
      axis.OriginPositionSet(0.0);//Set the origin to 0, otherwise repeated use will not result in Rapidcode reporting 0 at the found home position.
      axis.Abort(); // Disable the axis.
      axis.OperationModeSet(RSIOperationMode.RSIOperationModeINTERPOLATED_POSITION_MODE); // Mode of Operation Restore
      axis.ErrorLimitActionSet(RSIAction.RSIActionABORT);// Restore the position error action to whatever you want it to be.
 

Parameters

timeoutMilliseconds

The time in ms that the function will wait for a write response before generating a timeout error.

See also

ServiceChannelWrite