RMP Motion Controller
10.6.1
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HardwarePosLimitTriggerStateSet()
void HardwarePosLimitTriggerStateSet
(
bool
state
)
Description:
HardwarePosLimitTriggerStateSet sets the Hardware Positive Limit to Active High or Active Low.
Parameters
state
1 = triggers on active high signal, 0 = triggers on active low signal.
Part of the
Limits and Action Configuration
method group.
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 the image below, HardwarePosLimitTriggerStateSet sets the trigger state shown in the Positive (+) Hardware box. It currently triggers on a HIGH because the "High" checkbox is checked.
See also
HardwarePosLimitTriggerStateGet
Examples
AxisConfig.cs
,
AxisConfiguration.cpp
, and
HardwareLimits.cpp
.
RSI
RapidCode
Axis
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