AxisStatus.cs

 
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using NUnit.Framework;
using System;
 
[TestFixture]
[Category("Software")]
class AxisStatusSample : SampleAppTestBase
  {
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void AxisStatus()
    {
      //@[AxisStatus]
 
 
      // CHECK AXIS STATE
      RSIState state = axis.StateGet(); // StateGet will return RSIState enum name of the current state of the Axis or MultiAxis. (Ex: RSIStateERROR)
      Console.WriteLine("Your Axis is in state: " + state);
 
      switch (state)
      {
        case RSIState.RSIStateIDLE:
        case RSIState.RSIStateMOVING:
          break;
        case RSIState.RSIStateERROR:
        case RSIState.RSIStateSTOPPING_ERROR:
        case RSIState.RSIStateSTOPPED:
        case RSIState.RSIStateSTOPPING:
          RSISource source = axis.SourceGet(); // SourceGet will return the RSISource enum name of the first status bit that is active. (Ex: RSISourceAMP_FAULT)
          Console.WriteLine("Your Axis is in state: " + state);
          Console.WriteLine("The source of the axis error is: " + axis.SourceNameGet(source)); // SourceNameGet will return the first status bit which is set on an Axis or MultiAxis.
          break;
        default:
          Console.WriteLine("");
          break;
      }
 
      // or USE STATUS BIT GET
 
      bool isAmpFault_Active          = axis.StatusBitGet(RSIEventType.RSIEventTypeAMP_FAULT);            // StatusBitGet returns the state of a status bit, true or false.
      bool isPositionErrorLimitActive = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_ERROR);
      bool isHWNegativeLimitActive    = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_HW_NEG);
      bool isHWPostiveLimitActive     = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_HW_POS);    // This can be done for all RSIEventTypes
 
      //@[AxisStatus]
    }
  }