mpiMotorLimitConfigSet

Declaration

mpiMotorLimitConfiSet(MPIMotor              motor,
                      MPIMotorLimitType     limitType,
                      MPIMotorLimitConfig   *limitConfig);

Required Header: stdmpi.h

Change History: Added in 04.00.

Description

mpiMotorLimitConfigSet writes the motor limit configuration for the specified limit type, to the controller.

The controller’s motor limits are safety features to protect the machine when exceeding specifiable limits for position error, torque, position range, hardware limit switches, feedback faults, amplifier faults, and warnings.

motor	A handle to a motor object.
limitType	A enumerated value representing one of the dedicated motor limits.
*limitConfig	A pointer to a structure containing the configurations for the specified limitType.

Return Values
MPIMessageOK
MPIMessageARG_INVALID
MPICaptureMessageMOTOR_INVALID

Sample Code

    Example - Configure the feedback fault conditions.

    MPIMotorLimitConfig motorLimitConfig;

    /* Get the current limit configuration */
    mpiMotorLimitConfigGet(motor,
                           MPIMotorLimitTypeFEEDBACK_FAULT,
                           &motorLimitConfig);
    
    /* Configure motor to perform ABORT upon limit */
    motorLimitConfig.action = MPIActionABORT;

    /* Trigger fault from Primary feedback only */
    motorLimitConfig.trigger.feedback = MPIMotorFeedbackFaultPRIMARY;

    /* Set the new limit configuration */
    mpiMotorLimitConfigSet(motor,
                           MPIMotorLimitTypeFEEDBACK_FAULT,
                           &motorLimitConfig);

mpiMotorLimitConfigSet

Declaration

Description

Sample Code

See Also