◆ SoftwarePosLimitActionGet()

virtual RSIAction SoftwarePosLimitActionGet ( )
pure virtual

Get the action that will occur when the Software Positive Limit Event triggers.

ℹ This function is avaliable in RapidCode and RapidSequencer

Part of the Limits and Action Configuration method group.

SoftwarePosLimitActionGet returns the action that will occur when the Software Positive Limit Event triggers.
(RSIAction) Action taken on Limit trigger.
Available Actions are Abort(), EStop(), Stop(), None, EStopAbort(), and EStopModify()
Sample Code:
controller.AxisCountSet(controller.AxisCountGet() + 1); // Configure one additional axis to be used for the phantom axis
int axisNumber = controller.AxisCountGet() - 1; // Set the axis number to the last axis on the network (subtract one because the axes are zero indexed)
axis = controller.AxisGet(axisNumber); // Initialize Axis class
SampleAppsCS.HelperFunctions.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.ErrorLimitActionSet(RSIAction.RSIActionNONE); // Set Error Limit Action.
axis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE); // Set Hardware Negative Limit Action.
axis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE); // Set Hardware Positive Limit Action.
axis.HomeActionSet(RSIAction.RSIActionNONE); // Set Home Action.
axis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE); // Set Software Negative Limit Action.
axis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE); // Set Software Positive Limit Action.
const double positionToleranceMax = Double.MaxValue / 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
Go to axis screen->Limits & Actions. In image below, SoftwarePosLimitActionGet returns the action type shown in the Positive (+) Software box. It is currently set to E_STOP.
See also