PhantomAxisReset()

void PhantomAxisReset ( Axis phantomAxis )

static

Parameters

phantomAxis

Axis object of type RSIMotorTypePHANTOM.

Code Snippet

    public static void PhantomAxisReset(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 PhantomAxisConfigure.");
        }
 
        // abort any motion
        AbortMotionObject(phantomAxis);
 
        // 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);
 
        // set sample apps default motion parameters
        phantomAxis.UserUnitsSet(1);
        phantomAxis.DefaultVelocitySet(100);
        phantomAxis.DefaultAccelerationSet(1000);
        phantomAxis.DefaultDecelerationSet(1000);
        phantomAxis.DefaultJerkPercentSet(0);
        phantomAxis.PositionSet(0);
    }

Definition at line 144 of file _helpers.cs.