HardwareLimits.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode library
using RSI.RapidCode.dotNET.Enums;
using System;

namespace SampleAppsCS
{
    class HardwareLimits
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;                  // Specify which axis/motor we will be controlling.
            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)

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);    // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialize correctly.
            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.            
            //controller.AxisCountSet(1);                                                           // Uncomment if using Phantom Axes.
            Axis axis = controller.AxisGet(AXIS_NUMBER);                                            // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                         // [Helper Function] Check that the axis has been initialize correctly.

            try
            {
                Console.WriteLine("Hardware Limits Example\n");

                // Change Hardware POSITIVE (+) Limit characteristics.
                axis.HardwarePosLimitActionSet(RSIAction.RSIActionE_STOP);                              // Set the positive limit action to E_STOP.
                Console.WriteLine("\nHardware Positive Limit Action set to " + axis.HardwarePosLimitActionGet());

                axis.HardwarePosLimitTriggerStateSet(ACTIVE_HIGH);                                      // Set the positive limit trigger state to ACTIVE_HIGH.
                Console.WriteLine("\nHardware Positive Limit TriggerState set to " + axis.HardwarePosLimitTriggerStateGet());

                axis.HardwarePosLimitDurationSet(HW_POS_DURATION_TIME);                                 // Set the positive limit duration to 0.01 seconds.
                Console.WriteLine("\nHardware Positive Limit Duration set to " + axis.HardwarePosLimitDurationGet() + " seconds");

                // Change Hardware NEGATIVE (-) Limit charateristics.
                axis.HardwareNegLimitActionSet(RSIAction.RSIActionE_STOP);                              // Set the negative limit action to E_STOP.
                Console.WriteLine("\nHardware Negative Limit Action set to " + axis.HardwareNegLimitActionGet());

                axis.HardwareNegLimitTriggerStateSet(ACTIVE_LOW);                                       // Set the negative limit trigger state to ACTIVE_LOW.
                Console.WriteLine("\nHardware Negative Limit TriggerState set to " + axis.HardwareNegLimitTriggerStateGet());

                axis.HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME);                                 // Set the negative limit duration to 0.01 seconds.
                Console.WriteLine("\nHardware Negative Limit Duration set to " + axis.HardwareNegLimitDurationGet() + " seconds\n");

                Console.WriteLine("\nAll Hardware Limit characteristics set\n");
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                               // Allow time to read Console.
            Console.ReadKey();
        }
    }
}