ConfigurePhantomAxis()

static void ConfigurePhantomAxis ( MotionController * controller, int axisNumber )

static

Parameters

controller	Pointer to the MotionController containing the axis.
axisNumber	The number of the axis to configure as a phantom axis.

Exceptions

std::invalid_argument

Thrown if an invalid axis number is provided. static void ConfigurePhantomAxis(MotionController *controller, int axisNumber) { // Configure the specified axis as a phantom axis Axis *axis = controller->AxisGet(axisNumber); // Initialize Axis class CheckErrors(axis); // [Helper Function] Check that the axis has been initialized correctly // These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary) // Therefore, you must set all of their actions to "NONE". axis->PositionSet(0); // Set the position to 0 axis->ErrorLimitActionSet(RSIAction::RSIActionNONE); // Set Error Limit Action. axis->AmpFaultActionSet(RSIAction::RSIActionNONE); // Set Amp Fault Action. axis->AmpFaultTriggerStateSet(1); // Set Amp Fault Trigger State. axis->HardwareNegLimitActionSet(RSIAction::RSIActionNONE); // Set Hardware Negative Limit Action. axis->HardwarePosLimitActionSet(RSIAction::RSIActionNONE); // Set Hardware Positive Limit Action. axis->SoftwareNegLimitActionSet(RSIAction::RSIActionNONE); // Set Software Negative Limit Action. axis->SoftwarePosLimitActionSet(RSIAction::RSIActionNONE); // Set Software Positive Limit Action. axis->HomeActionSet(RSIAction::RSIActionNONE); // Set Home Action. const double positionToleranceMax = std::numeric_limits<double>::max() / 10.0; // Reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException axis->PositionToleranceCoarseSet(positionToleranceMax); // Set Settling Coarse Position Tolerance to max value axis->PositionToleranceFineSet(positionToleranceMax ); // 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 }

Examples

SampleAppsHelper.h.

Definition at line 303 of file SampleAppsHelper.h.