ConfigurePhantomAxis()

static void ConfigurePhantomAxis ( MotionController controller, int axisIndex )

static

Parameters

controller	your MotionController reference to configure.
axisIndex	Index of the phantom axis to configure.

Code Snippet

    public static void ConfigurePhantomAxis(MotionController controller, int axisIndex)
    {
        Axis phantomAxis = controller.AxisGet(axisIndex);
 
        // 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 the motor type to phantom
        phantomAxis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM);
    }

Examples

_setup.cs.

Definition at line 160 of file _helpers.cs.