axis-config-hardware-limits.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: Hardware Limits");
 
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);

    bool ACTIVE_HIGH = true;
    bool ACTIVE_LOW = false;
    double HW_POS_DURATION_TIME = 0.01;  // Positive limit duration (in seconds)
    double HW_NEG_DURATION_TIME = 0.01;  // Negative limit duration (in seconds)
 
    // set pos & neg limits
    axis.HardwarePosLimitActionSet(RSIAction.RSIActionE_STOP);
    axis.HardwarePosLimitTriggerStateSet(ACTIVE_HIGH);
    axis.HardwarePosLimitDurationSet(HW_POS_DURATION_TIME);
 
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionE_STOP);
    axis.HardwareNegLimitTriggerStateSet(ACTIVE_LOW);
    axis.HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME);
 
    // get pos & neg limits
    RSIAction hPosLimAct = axis.HardwarePosLimitActionGet();
    bool hPosLimTrigState = axis.HardwarePosLimitTriggerStateGet();
    double hPosLimDur = axis.HardwarePosLimitDurationGet();
 
    RSIAction hNegLimAct = axis.HardwareNegLimitActionGet();
    bool hNegLimTrigState = axis.HardwareNegLimitTriggerStateGet();
    double hNegLimDur = axis.HardwareNegLimitDurationGet();
 
    Console.WriteLine($"Hardware Positive Limit Action: {hPosLimAct}");
    Console.WriteLine($"Hardware Positive Limit Trigger State: {hPosLimTrigState}");
    Console.WriteLine($"Hardware Positive Limit Duration: {hPosLimDur}");
    Console.WriteLine($"Hardware Negative Limit Action: {hNegLimAct}");
    Console.WriteLine($"Hardware Negative Limit Trigger State: {hNegLimTrigState}");
    Console.WriteLine($"Hardware Negative Limit Duration: {hNegLimDur}");
 
    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;