ConfigurePhantomAxis()

static void ConfigurePhantomAxis ( Axis phantomAxis )

static

Parameters

phantomAxis

Axis object of type RSIMotorTypePHANTOM.

Code Snippet

    public static void ConfigurePhantomAxis(Axis phantomAxis)
    {
        if (phantomAxis.MotorTypeGet() != RSIMotorType.RSIMotorTypePHANTOM)
        {
            throw new Exception($"Axis {phantomAxis.NumberGet()} is not configured as a phantom axis. Please ensure the axis is set to phantom before calling ConfigurePhantomAxis.");
        }
 
        // disable all limits (not used for phantom axes)
        phantomAxis.ErrorLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.HomeActionSet(RSIAction.RSIActionNONE);
        phantomAxis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE);
 
        // set position tolerances to max value for immediate MotionDone
        double POSITION_TOLERANCE_MAX = Double.MaxValue / 10.0;
        phantomAxis.PositionToleranceCoarseSet(POSITION_TOLERANCE_MAX);
        phantomAxis.PositionToleranceFineSet(POSITION_TOLERANCE_MAX);
 
        // clear any faults
        phantomAxis.Abort();
        phantomAxis.ClearFaults();
 
        // check for idle state
        if (phantomAxis.StateGet() != RSIState.RSIStateIDLE)
        {
            RSISource source = phantomAxis.SourceGet(); // get state source enum 
            string errorMsg = @$"Axis {phantomAxis.NumberGet()} failed to enter IDLE state after configuring phantom axis. 
                                 The source of the axis error is: {phantomAxis.SourceNameGet(source)}";
            throw new Exception(errorMsg);
        }
    }

Examples

_setup.cs, gcode-motion.cs, gcode-units.cs, io-sync-outputs.cs, path-3d-points.cs, path-motion.cs, and path-setup-gantry.cs.

Definition at line 144 of file _helpers.cs.