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.TH LIMIT_AXIS "9" "2024-03-13" "LinuxCNC Documentation" "HAL Component"
.SH NAME

limit_axis \- Dynamic range based axis limits
.SH SYNOPSIS
.HP
.B loadrt limit_axis [count=\fIN\fB|names=\fIname1\fB[,\fIname2...\fB]] [personality=\fIP,P,...\fB]
.SH DESCRIPTION

limit_axis.c

Limit axis to certain limits at varying inputs
For example on a spindle with C rotation, to avoid hitting a
gantry when the height is above Z-10
 - Use Z axis as feedback
 - Use 2 ranges (0,-10) (-10, -40)
 - When Z is above 10, C rotation is limited to range 0
 - When Z is below 10, C rotation is limited to range 1

 Usage:
 loadrt limit_axis count=3 personality=2,3,2
 or
 loadrt limit_axis names=limit_x,limit_y,limit_z personality=2,3,2

 The "personality" argument defines how many ranges are supported by each instance.
 (Note that no spaces can be used in the names= and personality= parameters)

 Caveats
 - Searches ranges from 0 to 9 and will take the first range that matches
 - Ranges are inclusive min_range <= feedback <= max_range
 - Max can not be less than minimum for any group
 - Sticky indicates, to not check other ranges if the feedback is still in the current range
 - Enable allows for a range to be turned on/off, for cases such as avoiding a tool changer, but allowing sometimes
.SH FUNCTIONS
.TP
\fBlimit-axis.\fIN\fB\fR (requires a floating-point thread)

.SH PINS
.TP
.B limit-axis.\fIN\fB.error-no-range\fR bit out \fR
error pin indicating that no range matches the fb
.TP
.B limit-axis.\fIN\fB.min-output\fR float out \fR
Minimum limit output
.TP
.B limit-axis.\fIN\fB.max-output\fR float out \fR
Maximum limit output
.TP
.B limit-axis.\fIN\fB.fb\fR float in \fR
Feedback pin, the value of this pin determines which range is active
.TP
.B limit-axis.\fIN\fB.current-range\fR u32 out \fR
Indicates which range is currently active
.TP
.B limit-axis.\fIN\fB.min-limit-\fIMM\fB\fR float in  (MM=00..personality) \fR
The array of minimum limits to select from
.TP
.B limit-axis.\fIN\fB.max-limit-\fIMM\fB\fR float in  (MM=00..personality) \fR
The array of macimum limits
.TP
.B limit-axis.\fIN\fB.min-range-\fIMM\fB\fR float in  (MM=00..personality) \fR
Defines the range of values with which the fb is compared to set the range
.TP
.B limit-axis.\fIN\fB.max-range-\fIMM\fB\fR float in  (MM=00..personality) \fR
Defines the range of values with which the fb is compared to set the range
.TP
.B limit-axis.\fIN\fB.enable-\fIMM\fB\fR bit in  (MM=00..personality) \fR
Used to enable and disable a specific range
.TP
.B limit-axis.\fIN\fB.sticky-\fIMM\fB\fR bit in  (MM=00..personality) \fR
Used to make specific range 'sticky' or not
.TP
.B limit-axis.\fIN\fB.error-range-\fIMM\fB\fR bit out  (MM=00..personality) \fR(default: \fI1\fR)
Error bit indicating that the fb pin falls outside all ranges
.TP
.B limit-axis.\fIN\fB.error-limit-\fIMM\fB\fR bit out  (MM=00..personality) \fR(default: \fI1\fR)
Error bit indicating that the max limit is not larger than the min limit
.SH AUTHOR

Chad Woitas
.SH LICENSE

GPL