Safety parameters

These are the safety parameters in the McAxisParameter type.

Software limit switch

Name	Value	Data type	R/W	Meaning
mcSoftLimitPositive	2	double	R/W	Positive software limit switch position. If the commanded value is greater than this, an axis will move forwards and stops when it reaches the software limit switch.
mcSoftLimitNegative	3	double	R/W	Negative software limit switch position. If the commanded value is less than this, an axis will move backwards and stops when it reaches the software limit switch.
mcEnableLimitPositive	4	double	R/W	Enables positive software limit switch.
mcEnableLimitNegative	5	double	R/W	Enables negative software limit switch.

Limit sensors

Name	Value	Data type	R/W	Meaning
mcPositiveLimitSwitchModuleType	1009	double	R/W	Configures the maximum limit sensor. Set to TRUE if the sensor is connected to an axis input; set to FALSE if it is connected to an I/O module.
mcPositiveLimitSwitchModuleIndex	1010	double	R/W	Configures the maximum limit sensor. It identifies which axis or I/O module contains the sensor. Aliases affect this parameter.
mcPositiveLimitSwitchOffset	1011	double	R/W	Configures the maximum limit sensor. It's the offset of the digital input in the I/O module input buffer.
mcPositiveLimitSwitchInvert	1012	double	R/W	Configures the maximum limit sensor and inverts the sensor value.
mcNegativeLimitSwitchModuleType	1013	double	R/W	Configures the minimum limit sensor. Set to TRUE if the sensor is connected to an axis input; set to FALSE if it is connected to an I/O module.
mcNegativeLimitSwitchModuleIndex	1014	double	R/W	Configures the minimum limit sensor. It identifies which I/O module or axis contains the sensor. Aliases affect this parameter.
mcNegativeLimitSwitchOffset	1015	double	R/W	Configures the minimum limit sensor. It's the offset of the digital input in the I/O module input buffer.
mcNegativeLimitSwitchInvert	1016	double	R/W	Configures the minimum limit sensor. It determines whether to invert the sensor value.
mcEnablePositiveLimitSwitch	1019	double	R/W	Enables or disables the maximum limit sensor.
mcEnableNegativeLimitSwitch	1020	double	R/W	Enables or disables the minimum limit sensor.