SoftwareNegLimitActionSet()

void SoftwareNegLimitActionSet

(

RSIAction

action

)

Description:

SoftwareNegLimitActionSet sets the action that will occur when the Software Negative Limit Event triggers.

Parameters

action

Action taken on Limit trigger. A RSIAction value.

Note:

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

Part of the Limits and Action Configuration method group.

Sample Code:

Axis: Configuration

    // add phantom axis
    controller.AxisCountSet(controller.AxisCountGet() + 1);
 
    // get phantom axis
    int axisNumber = controller.AxisCountGet() - 1;  // last axis [zero-based]
    Axis axis = controller.AxisGet(axisNumber);
    Helpers.CheckErrors(axis);
 
    // disable all limits (not used for phantom axes)
    axis.ErrorLimitActionSet(RSIAction.RSIActionNONE);
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE);
    axis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE);
    axis.HomeActionSet(RSIAction.RSIActionNONE);
    axis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE);
    axis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE);
 
    double POSITION_TOLERANCE_MAX = Double.MaxValue / 10.0;   // reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException
    axis.PositionToleranceCoarseSet(POSITION_TOLERANCE_MAX);  // set Settling Coarse Position Tolerance to max value
    axis.PositionToleranceFineSet(POSITION_TOLERANCE_MAX);    // set Settling Fine Position Tolerance to max value (so Phantom axis will get immediate MotionDone when target is reached)
 
    axis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM);      // set the MotorType to phantom

RapidSetup:

Go to axis screen->Limits & Actions. In image below, SoftwareNegLimitActionSet sets the action type shown in the Negative (-) Software box. It is currently set to E_STOP.

See also

SoftwareNegLimitActionGet

Examples

PathMotion.cpp, PhantomAxis.cpp, SampleAppsHelper.h, and axis-config-phantom-axis.cs.