◆ HardwarePosLimitActionGet()

RSIAction HardwarePosLimitActionGet ( )

Description:: HardwarePosLimitActionGet returns the action that will occur when the Hardware Positive Limit Event triggers.

Note:: Available Actions are Abort(), EStop(), Stop(), None, EStopAbort(), and EStopModify()

Sample Code:: Axis: Configuration
const bool ACTIVE_HIGH = true; // Constant for active high.

const bool ACTIVE_LOW = false; // Constant for active low.

const double HW_POS_DURATION_TIME = 0.01; // Positive limit duration. (in seconds)

const double HW_NEG_DURATION_TIME = 0.01; // Negative limit duration. (in seconds)

// SET (Hardware POSITIVE (+) Limit characteristics)

axis.HardwarePosLimitActionSet(RSIAction.RSIActionE_STOP); // Set the positive limit action to E_STOP.

axis.HardwarePosLimitTriggerStateSet(ACTIVE_HIGH); // Set the positive limit trigger state to ACTIVE_HIGH.

axis.HardwarePosLimitDurationSet(HW_POS_DURATION_TIME); // Set the positive limit duration to 0.01 seconds.

// GET

var hPosLimAct = axis.HardwarePosLimitActionGet();

var hPosLimTrigState = axis.HardwarePosLimitTriggerStateGet();

var hPosLimDur = axis.HardwarePosLimitDurationGet();

// SET (Hardware NEGATIVE (-) Limit charateristics)

axis.HardwareNegLimitActionSet(RSIAction.RSIActionE_STOP); // Set the negative limit action to E_STOP.

axis.HardwareNegLimitTriggerStateSet(ACTIVE_LOW); // Set the negative limit trigger state to ACTIVE_LOW.

axis.HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME); // Set the negative limit duration to 0.01 seconds.

// GET

var hNegLimAct = axis.HardwareNegLimitActionGet();

var hNegLimTrigState = axis.HardwareNegLimitTriggerStateGet();

var hNegLimDur = axis.HardwareNegLimitDurationGet();

RapidSetup:: Go to axis screen->Limits & Actions. In image below, HardwarePosLimitActionGet returns the action type shown in the Positive (+) Hardware box. It is currently set to E_STOP.