mpiSqNodeDriveParamGet
Declaration
int32_t mpiSqNodeDriveParamGet(MPISqNode node, int32_t driveIndex, int32_t param, MPIDriveMapParamType paramType, MPIDriveMapParamValue *value);
Required Header: stdmpi.h
Description
mpiSqNodeDriveParamGet reads a drive parameter from the drive and fills in the appropriate field of the union pointed to by value. The paramType defines the type of data that is read from the drive and also defines which field will be used in the value union.
| node | a handle to the SynqNet node object. |
|---|---|
| driveIndex | an index to the drive (0, 1, 2, etc), relative to the node. |
| param | an index for the drive parameter that is being accessed. |
| paramType | the type of the data read from the drive and which field will be used in the value union. |
| *value | a pointer to the union that will be filled in. |
| Return Values | |
|---|---|
| MPIMessageOK | |
Sample Code
/* readCommOffsetAngle(...) demonstrates how to read the commutation offset angle parameter on a S200 drive using mpiSqNodeDriveParamGet(...). MPIDriveMapParamValue is a union that holds the value of a drive parameter. MPISqNodeDriveParamType enumeration identifies which of the fields within the MPISqNodeDriveParamValue union to use. For commutation offset angle, the parameter index is 6 and the type is MPIDriveMapParamTypeSINGLE. This information can be found on the drive map file. */ int32_t readCommOffsetAngle(MPISqNode node, int32_t nodeNumber, int16_t* commOffsetValue) { int32_t returnValue; MPIDriveMapParamValue value; returnValue = mpiSqNodeDriveParamGet(node, nodeNumber, 6, /* parameter index */ MPIDriveMapParamTypeSINGLE, /* parameter type */ &value); *commOffsetValue = value.single; return returnValue; }