axis-config-ampfault.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config AmpFault");
 
// get rmp objects
using MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_INDEX);
    Helpers.CheckErrors(axis);
 
    // set
    axis.AmpEnableSet(false);                           // disable the amp
    axis.AmpFaultActionSet(RSIAction.RSIActionABORT);   // set the action that will occur when there is an amp fault.
    axis.AmpFaultTriggerStateSet(false);                // set the state of the amp fault.
    axis.AmpFaultDurationSet(1);                        // set the duration (seconds) required before the Amp Fault event triggers.
 
    // get
    bool isEnabled = axis.AmpEnableGet();
    RSIAction faultAction = axis.AmpFaultActionGet();
    bool faultTriggerState = axis.AmpFaultTriggerStateGet();
    double faultDuration = axis.AmpFaultDurationGet();
 
    Console.WriteLine($"Amp Enabled: {isEnabled}");
    Console.WriteLine($"Fault Action: {faultAction}");
    Console.WriteLine($"Fault Trigger State: {faultTriggerState}");
    Console.WriteLine($"Fault Duration: {faultDuration}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}