PhantomAxisReset()

static 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);
    }

Examples

_helpers.cs, _setup.cs, axis-motion-hold-via-address.cs, axis-motion-hold-via-digitalinput.cs, axis-motion-hold-via-position.cs, axis-motion-modify.cs, axis-motion-point-to-point.cs, axis-motion-streaming-pt-whilestopping.cs, axis-motion-streaming-pt.cs, axis-motion-streaming-pvajt.cs, axis-motion-streaming-pvt.cs, axis-motion-velocity-via-analoginput.cs, camming.cs, compensator-1d.cs, compensator-single-axis.cs, gcode-motion.cs, gcode-units.cs, gearing.cs, io-sync-outputs.cs, mathblock-calculate-acceleration-from-velocity.cs, mathblock-difference-of-position-userlimit.cs, mathblock-pdo-copy.cs, path-3d-points.cs, path-motion.cs, path-setup-gantry.cs, recorder.cs, userlimit-command-position-direct.cs, userlimit-estop-store-position.cs, userlimit-feedrate.cs, and userlimit-position-abort.cs.

Definition at line 144 of file _helpers.cs.