HardwarePosLimitActionGet()

RSIAction HardwarePosLimitActionGet

(

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Description:

HardwarePosLimitActionGet returns the action that will occur when the Hardware Positive Limit Event triggers.

Returns

(RSIAction) Action taken on Positive Limit trigger.

Note:

Available Actions are Abort(), EStop(), Stop(), None, EStopAbort(), and EStopModify()

Remarks

This function is also available in RapidSequencer.

Part of the Limits and Action Configuration method group.

Sample Code:

Axis: Configuration

    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();

RapidSetup:

Go to axis screen->Limits & Actions. In image below, HardwarePosLimitActionGet returns the action type shown in the Positive (+) Hardware box. It is currently set to E_STOP.

See also

HardwarePosLimitActionSet

Examples

HardwareLimits.cpp.