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static |
controller | Pointer to the MotionController containing the axis. |
axisNumber | The number of the axis to configure as a phantom axis. |
std::invalid_argument | Thrown if an invalid axis number is provided. {
// Configure the specified axis as a phantom axis
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
}
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Definition at line 303 of file SampleAppsHelper.h.