/// <summary>
/// Evaluates the stop condition, checking for EStop or a limit switch. Turns off all devices and sets an error message to be returned.
/// </summary>
private string GetEStopErrorMessage()
{
string limitSwitch;
if (Program.OvertravelCondition)
{
if (AxisX.IsAtLimit(out limitSwitch))
{
return("***E-STOP Activated: X Axis (" + limitSwitch + ") Limit reached");
}
if (AxisY.IsAtLimit(out limitSwitch))
{
return("***E-STOP Activated: Y Axis (" + limitSwitch + ") Limit reached");
}
if (AxisZ.IsAtLimit(out limitSwitch))
{
return("***E-STOP Activated: Z Axis (" + limitSwitch + ") Limit reached");
}
}
if (Program.EStopCondition)
{
return("***E-STOP Activated");
}
return("Unknown reason for motion stop condition");
}