axis-config-ampfault.cs

Note

See Axis: Configuration 📜 for a detailed explanation of this sample code.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config: AmpFault");
 
int exitCode = 0;
 
// get rmp objects
MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    Axis axis = controller.AxisGet(axisNumber: Constants.AXIS_0_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}");
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;