AmpEnableSet() [2/2]

int32_t AmpEnableSet	(	bool	enable,
		int32_t	ampActiveTimeoutMilliseconds )

Description:

AmpEnableSet enables (or disables) all amplfiers with a timeout to wait for AMP_ACTIVE / OPERATION_ENABLED to go high.

Parameters

enable	True = enable all, false = disable all.
ampActiveTimeoutMilliseconds	How many milliseconds to wait for AMP_ACTIVE / OPERATION_ENABLED before timing out (0 will not wait). Ignored when disabling amp.

Returns

The number of milliseconds waited for AMP_ACTIVE / OPERATION_ENABLED to go high.

Exceptions

RsiError

with RSIErrorMessage::RSIMessageTIMEOUT if the amp is not enabled within the timeout.

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