axis-config-hardware-limits.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config Hardware Limits");
 
// get rmp objects
using MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_INDEX);
    Helpers.CheckErrors(axis);
 
    bool ACTIVE_HIGH = true;
    bool ACTIVE_LOW = false;
    double HW_POS_DURATION_TIME = 0.01;  // Positive limit duration (in seconds)
    double HW_NEG_DURATION_TIME = 0.01;  // Negative limit duration (in seconds)
 
    // set pos & neg limits
    axis.HardwarePosLimitActionSet(RSIAction.RSIActionE_STOP);
    axis.HardwarePosLimitTriggerStateSet(ACTIVE_HIGH);
    axis.HardwarePosLimitDurationSet(HW_POS_DURATION_TIME);
 
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionE_STOP);
    axis.HardwareNegLimitTriggerStateSet(ACTIVE_LOW);
    axis.HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME);
 
    // get pos & neg limits
    RSIAction hPosLimAct = axis.HardwarePosLimitActionGet();
    bool hPosLimTrigState = axis.HardwarePosLimitTriggerStateGet();
    double hPosLimDur = axis.HardwarePosLimitDurationGet();
 
    RSIAction hNegLimAct = axis.HardwareNegLimitActionGet();
    bool hNegLimTrigState = axis.HardwareNegLimitTriggerStateGet();
    double hNegLimDur = axis.HardwareNegLimitDurationGet();
 
    Console.WriteLine($"Hardware Positive Limit Action: {hPosLimAct}");
    Console.WriteLine($"Hardware Positive Limit Trigger State: {hPosLimTrigState}");
    Console.WriteLine($"Hardware Positive Limit Duration: {hPosLimDur}");
    Console.WriteLine($"Hardware Negative Limit Action: {hNegLimAct}");
    Console.WriteLine($"Hardware Negative Limit Trigger State: {hNegLimTrigState}");
    Console.WriteLine($"Hardware Negative Limit Duration: {hNegLimDur}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}