Safety header

The Safety functions and the values of limit switch parameters are defined in the header file AxisConfiguration.h. Notice that the values we provide are examples. You should customize the settings for your limit switches.

In AxisConfiguration.h, your Safety code should be as follows:

            #pragma once

/* Safety */
//Soft Limit switch
#define ENABLE_SOFTLIMIT_POSITIVE TRUE
#define ENABLE_SOFTLIMIT_NEGATIVE TRUE

//The position of the positive software limit switch.
#define SOFT_LIMIT_POSITIVE 15000

//The position of the negative software limit switch.
#define SOFT_LIMIT_NEGATIVE -15000

//Limit sensors
//Type of module containing the max sensor.
//TRUE for axis, FALSE for I/O module.
#define MAX_SENSOR_TYPE FALSE

//Index of an axis/module containing the sensor.
#define MAX_SENSOR_INDEX 0

//Offset of the sensor in the module input data.
#define MAX_SENSOR_OFFSET 0

//Invert the max sensor value.
#define MAX_SENSOR_INVERT FALSE

//Enable the max sensor value.
#define MAX_SENSOR_ENABLE TRUE

//Type of module containing the min sensor.
//TRUE for axis, FALSE for I/O module.
#define MIN_SENSOR_TYPE FALSE

//Index of an axis/module containing the sensor.
#define MIN_SENSOR_INDEX 0

//Offset of the sensor in the module input data.
#define MIN_SENSOR_OFFSET 0

//Invert the min sensor value.
#define MIN_SENSOR_INVERT FALSE

//Enable the min sensor value.
#define MIN_SENSOR_ENABLE TRUE

VOID SoftLimitSwitch(int Index);
VOID LimitSensor(int Index);
VOID LimitDirection(int Index);