void ConnectionDrive::ConnectionEstablished ( )

inlineprivatevirtual

Reimplemented from Connection.

Definition at line 1155 of file drivectrl.cc.

    {
        //Info("Connection to PLC established.");

        fIsInitialized[0] = false;
        fIsInitialized[1] = false;

        SendSdo(kNodeZd, kSetArmed, 1);
        SendSdo(kNodeAz, kSetArmed, 1);

        RequestSdo(kNodeZd, kReqErrStat);
        RequestSdo(kNodeAz, kReqErrStat);

        SetRpmMode(false);

        RequestSdo(kNodeZd, kReqPosRes);
        RequestSdo(kNodeAz, kReqPosRes);

        RequestSdo(kNodeZd, kReqVelRes);
        RequestSdo(kNodeAz, kReqVelRes);

        RequestSdo(kNodeZd, kReqVelMax);
        RequestSdo(kNodeAz, kReqVelMax);

        RequestSdo(kNodeZd, kReqPos, 0);
        RequestSdo(kNodeAz, kReqPos, 0);
        RequestSdo(kNodeZd, kReqPos, 1);
        RequestSdo(kNodeAz, kReqPos, 1);

        RequestSdo(kNodeZd, kReqKeepAlive);
        RequestSdo(kNodeAz, kReqKeepAlive);

        StartReadReport();
    }