AxisCountSet() [1/2]

void AxisCountSet

(

int32_t

axisCount

)

Description:

AxisCountSet will configure the number of axes processed by the controller. This overload also sets the number of allocated/enabled MotionSupervisors, Filters, and Motors.

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