public bool SetSoftLimit(I32 positiveLimit, I32 negativeLimit, CmdStatus sw, StopType stopType) { I16 rc = -1; if (axisPara.IsActive && axisPara.Enabled) { if (sw == CmdStatus.ON) { /* * 0 INT only * 1 Immediately stop * 2 Slow down then stop * 3 Reserved */ if (stopType == StopType.Emergency) { rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 1); } else { rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 2); } rc = CCMNet.CS_mnet_m1_set_soft_limit(RingNoOfMNet, axisPara.SlaveIP, positiveLimit, negativeLimit); } else { rc = CCMNet.CS_mnet_m1_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP); } } return(rc == 0 ? true : false); }