◆ NetworkSyncGroupCountGet()

int32_t NetworkSyncGroupCountGet ( )

Description:: Returns the number of sync group slots populated by the master from the ENI at startup. Group 0 (the default group) always exists once the network is operational, so the count is at least 1; additional groups appear only when nodes were assigned a non-zero SyncGroup with RapidCodeNetworkNode::ConfigSet before the ENI was generated. See Sync Groups.

Sample Code:: for (int32_t groupId = 0; groupId < controller->NetworkSyncGroupCountGet(); groupId++)

{

MotionController::NetworkSyncGroupStatus status = controller->NetworkSyncGroupStatusGet(groupId);

printf("Group %u: state %d WKC %u/%u\n",

status.Id, (int)status.State, status.ActualWkc, status.ExpectedWkc);

}

RSI::RapidCode::MotionController::NetworkSyncGroupStatus
Status of a single EtherCAT sync group.
Definition rsi.h:2320

RSI::RapidCode::MotionController::NetworkSyncGroupStatus::State
RSINetworkSyncGroupState State
Current group state – see RSINetworkSyncGroupState for the meaning of each value.
Definition rsi.h:2322

RSI::RapidCode::MotionController::NetworkSyncGroupStatus::Id
uint32_t Id
Sync group id (0 = default group).
Definition rsi.h:2321

RSI::RapidCode::MotionController::NetworkSyncGroupStatus::ActualWkc
uint32_t ActualWkc
Most recent actual Working Counter. Less than ExpectedWkc while a group node is out of OP.
Definition rsi.h:2324

RSI::RapidCode::MotionController::NetworkSyncGroupStatus::ExpectedWkc
uint32_t ExpectedWkc
Expected Working Counter for this group's cyclic datagram.
Definition rsi.h:2323