18using RSI.RapidCode.dotNET;
28 static void Main(
string[] args)
31 const int AXIS_NUMBER = 0;
32 const int ENCODER_RESOLUTION_BITS = 20;
35 double USER_UNITS = Math.Pow(2, ENCODER_RESOLUTION_BITS);
55 Console.WriteLine(
"\nHello RMP");
64 Console.WriteLine(e.Message);
68 Console.WriteLine(
"\nPress Any Key To Exit");
static void CheckErrors(RapidCodeObject rsiObject)
Check if the RapidCodeObject has any errors.
static void StartTheNetwork(MotionController controller)
Start the controller communication/network.
Helper Functions for checking logged creation errors, starting the network, etc.
void UserUnitsSet(double countsPerUserUnit)
Sets the number of counts per User Unit.
void ErrorLimitTriggerValueSet(double triggerValue)
Set the Position Error Limit trigger value.
void PositionSet(double position)
Set the Command and Actual positions.
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
static MotionController * CreateFromSoftware()
Initialize and start the RMP EtherCAT controller.
void Delete(void)
Delete the MotionController and all its objects.
Represents the RMP soft motion controller. This class provides an interface to general controller con...
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
void AmpEnableSet(bool enable)
Enable all amplifiers.
void Abort()
Abort an axis.