AxisCountSet() [1/2]

void AxisCountSet

(

int32_t

axisCount

)

Description:

AxisCountSet will configure the number of axes processed by the controller.

Parameters

axisCount

A int32_t value to set AxisCount to.

Part of the Information method group.

Sample Code:

Axis: Configuration

    // add phantom axis
    controller.AxisCountSet(controller.AxisCountGet() + 1);
 
    // get phantom axis
    int axisIndex = controller.AxisCountGet() - 1;  // last axis [zero-based]
    Axis axis = controller.AxisGet(axisIndex);
    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

Warning

Important usage instructions for all RapidCode object count set methods:
This should be done after successful MotionController::Create but before any RapidCode object creation, (MotionController::AxisGet, MotionController::MultiAxisGet, etc.) as changing object counts will reconfigure the RMP's dynamic memory allocation which invalidates all preexisting RapidCode objects.

See also

AxisCountSet, MotionCountSet, RecorderCountSet, UserLimitCountSet, MathBlockCountSet, CompensatorCountSet

AxisCountGet

Note

By default, this will also set the number of allocated/enabled MotionSupervisors, Filters, and Motors

Examples

HelperFunctions.cs, MultiAxisMotion.cs, Recorder.cs, SampleAppsHelper.h, UserLimit.cs, UserLimitCommandPositionDirect.cs, _setup.cs, and axis-config-phantom-axis.cs.