Start Communication and Servo On

Cyclic communication with the servo network is started with the StartCommunication function. Calling this function will attempt to start communication with the network using the parameters set in Module.ini, the Network Definition files, and the RtxTcpIp.ini files.

Once communication has been established, the Engine State status returned by the GetStatus function will be set to Communicating.

When communication is started for the first time after starting the engine, the home position will be 0 and the position feedback (Actual Pos) will be equal to the Encoder Feedback position (divided by the Gear Ratio).

Communication can be stopped with the StopCommunication function.

When communication is started, all servos will be in servo off state. Whether the servo is on or off can be checked with the Servo On status returned by the GetStatus function. The servo can be turned on or off with the SetServoOn function.

The servo only follows position commands (Pos Cmd) while it is on. While the servo is off, the position command is set equal to the position feedback every cycle. Therefore, when the axis is moved by hand while the servo is off and then turned on, the position command will be equal to the position feedback just before the servo is turned on.