SoftwarePosLimitActionSet()

void SoftwarePosLimitActionSet

(

RSIAction

action

)

Description:

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

Parameters

action

Action taken on Limit trigger. A RSIAction value.

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:

PhantomAxis

    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
    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

RapidSetup:

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

See also

SoftwarePosLimitActionGet

Examples

PathMotion.cpp.