HardwareNegLimitActionGet()

RSIAction HardwareNegLimitActionGet

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Description:

HardwareNegLimitActionGet returns the action that will occur when the Hardware Negative Limit Event triggers.

Returns

(RSIAction) Action taken on Negative Limit trigger.

Note:

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

Part of the Limits and Action Configuration method group.

Sample Code:

Axis: Configuration

    bool ACTIVE_HIGH = true;
    bool ACTIVE_LOW = false;
    double HW_POS_DURATION_TIME = 0.01;  // Positive limit duration (in seconds)
    double HW_NEG_DURATION_TIME = 0.01;  // Negative limit duration (in seconds)
 
    // set pos & neg limits
    axis.HardwarePosLimitActionSet(RSIAction.RSIActionE_STOP);
    axis.HardwarePosLimitTriggerStateSet(ACTIVE_HIGH);
    axis.HardwarePosLimitDurationSet(HW_POS_DURATION_TIME);
 
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionE_STOP);
    axis.HardwareNegLimitTriggerStateSet(ACTIVE_LOW);
    axis.HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME);
 
    // get pos & neg limits
    RSIAction hPosLimAct = axis.HardwarePosLimitActionGet();
    bool hPosLimTrigState = axis.HardwarePosLimitTriggerStateGet();
    double hPosLimDur = axis.HardwarePosLimitDurationGet();
 
    RSIAction hNegLimAct = axis.HardwareNegLimitActionGet();
    bool hNegLimTrigState = axis.HardwareNegLimitTriggerStateGet();
    double hNegLimDur = axis.HardwareNegLimitDurationGet();

RapidSetup:

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

See also

HardwareNegLimitActionSet

Examples

AxisConfiguration.cpp, HardwareLimits.cpp, and axis-config-hardware-limits.cs.