The RMP Motion Controller APIs

◆ AmpEnableSet() [2/2]

int32_t AmpEnableSet ( bool  enable,
int32_t  ampActiveTimeoutMilliseconds 
AmpEnableSet enables (or disables) all amplfiers with a timeout to wait for AMP_ACTIVE / OPERATION_ENABLED to go high.
enableTrue = enable all, false = disable all.
ampActiveTimeoutMillisecondsHow many milliseconds to wait for AMP_ACTIVE / OPERATION_ENABLED before timing out (0 will not wait). Ignored when disabling amp.
The number of milliseconds waited for AMP_ACTIVE / OPERATION_ENABLED to go high.
RsiErrorwith RSIErrorMessage::RSIMessageTIMEOUT if the amp is not enabled within the timeout.
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.
This function is also available in RapidSequencer.

Part of the Action method group.

Sample Code:
public void EnableAmp(Axis myAxis)
myAxis.ClearFaults(); // To enable after an abort faults must be cleared.
myAxis.AmpEnableSet(true); // Enable the motor.
Go to axis screen->Axis Status.
Left: Amp Enabled, Right: Amp Disabled
See also
ClearFaults, RSIAxisAddressType::RSIAxisAddressTypeAMP_ENABLE_AMP_FAULT_TIMEOUT