mpiMotorLimitConfigGet

Declaration

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

Required Header: stdmpi.h

Change History: Added in 04.00.

Description

mpiMotorLimitConfigGet reads the motor limit configuration for the specified limit type, from the controller and writes it into the structure pointed to by limitConfig.

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);

mpiMotorLimitConfigGet

Declaration

Description

Sample Code

See Also