◆ ConfigurePhantomAxis()

static void ConfigurePhantomAxis	(	MotionController	controller,
		int	axisNumber )

static

Parameters

controller	Pointer to the MotionController containing the axis.
axisNumber	The number of the axis to configure as a phantom axis.

Exceptions

SystemException

Thrown if an invalid axis number is provided.

  public static void ConfigurePhantomAxis(MotionController controller, int axisNumber)
  {
    // Check if the axis number is valid
    if (axisNumber < 0)
    {
      throw new SystemException("Error: " + axisNumber.ToString() + " is invalid. Axis numbers cannot be negative.");
    }
 
    if (axisNumber >= controller.AxisCountGet())
    {
      throw new SystemException("Error: " + axisNumber.ToString() + " is invalid. Axis numbers cannot be greater than the number of axes on the controller.");
    }
 
    // Configure the specified axis as a phantom axis
    Axis axis = controller.AxisGet(axisNumber);                   // Initialize Axis class
    HelperFunctionsCS.CheckErrors(axis);                          // [Helper Function] Check that the axis has been initialized correctly
 
    // These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary)
    // Therefore, you must set all of their actions to "NONE".
    axis.PositionSet(0);                                          // Set the position to 0
    axis.ErrorLimitActionSet(RSIAction.RSIActionNONE);            // Set Error Limit Action.
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE);      // Set Hardware Negative Limit Action.
    axis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE);      // Set Hardware Positive Limit Action.
    axis.HomeActionSet(RSIAction.RSIActionNONE);                  // Set Home Action.
    axis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE);      // Set Software Negative Limit Action.
    axis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE);      // Set Software Positive Limit Action.
 
    const double positionToleranceMax = Double.MaxValue / 10.0;   // Reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException
    axis.PositionToleranceCoarseSet(positionToleranceMax);        // Set Settling Coarse Position Tolerance to max value
    axis.PositionToleranceFineSet(positionToleranceMax);          // Set Settling Fine Position Tolerance to max value (so Phantom axis will get immediate MotionDone when target is reached)
 
    axis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM);          // Set the MotorType to phantom
  }

See also: CheckErrors @[Configure-Phantom-Axis-cs]

Definition at line 212 of file HelperFunctionsCS.cs.