Hardware Limits

Table of Contents

• 🔹 What are Hardware Limits?
• 🔹 Hardware Limits Overview
• 📜 Sample Code

Set and adjust motor hardware limits via RapidCode or RapidSetup, configuring trigger state, action, and duration to ensure motor safety.

🔹 What are Hardware Limits?

Hardware Limits help keep your motors running safely. They can be set and adjusted by your application, either through RapidCode (as demonstrated in the sample app below) or through RapidSetup. (directly below)

🔹 Hardware Limits Overview

There are four configurations available for a motor’s positive and negative hardware limit inputs:

Type of Configuration	Definition
1. Trigger State	Indicates the trigger polarity, such as ACTIVE_HIGH or ACTIVE_LOW.
2. Action	Includes actions such as RSIActionE_STOP, RSIActionNONE, etc. (See all actions here: RSIAction)
3. Duration	Indicates how long the limit condition must exist for the event to occur.

These configurations can be found and configured under the “Limits and Actions” tab in RapidSetup, as shown below.

📜 Sample Code

• C#

      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();

• C++

      // Parameters
      const int TRIGGER_STATE = 1;                        // The state that triggers the positive software limit, active high = 1, active low = 0.
      const double DURATION = 0.01;                       // How long the hardware limit must be in the trigger state to be considered triggered.
      const RSIAction ACTION = RSIAction::RSIActionABORT; // The action to take when the positive hardware limit is triggered.
   
      // SET
      axis->HardwarePosLimitTriggerStateSet(TRIGGER_STATE);
      axis->HardwarePosLimitDurationSet(DURATION);
      axis->HardwarePosLimitActionSet(ACTION);
   
      axis->HardwareNegLimitTriggerStateSet(TRIGGER_STATE);
      axis->HardwareNegLimitDurationSet(DURATION);
      axis->HardwareNegLimitActionSet(ACTION);
   
      // GET
      int posTriggerState = axis->HardwarePosLimitTriggerStateGet();
      double posDuration = axis->HardwarePosLimitDurationGet();
      RSIAction posAction = axis->HardwarePosLimitActionGet();
   
      int negTriggerState = axis->HardwareNegLimitTriggerStateGet();
      double negDuration = axis->HardwareNegLimitDurationGet();
      RSIAction negAction = axis->HardwareNegLimitActionGet();