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◆ 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
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.
Returns
The number of milliseconds waited for AMP_ACTIVE / OPERATION_ENABLED to go high.
Exceptions
RsiErrorwith 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