axis-config-phantom-axis.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config Phantom Axis");
 
// get rmp objects
using MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    // get defaults
    int DEFAULT_AXIS_COUNT = controller.AxisCountGet();
    Console.WriteLine($"Initial Axis Count: {controller.AxisCountGet()}\n");
 
    // add phantom axis
    controller.AxisCountSet(controller.AxisCountGet() + 1);
 
    // get phantom axis
    int axisNumber = controller.AxisCountGet() - 1;  // last axis [zero-based]
    Axis axis = controller.AxisGet(axisNumber);
    Helpers.CheckErrors(axis);
 
    // disable all limits (not used for phantom axes)
    axis.ErrorLimitActionSet(RSIAction.RSIActionNONE);
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE);
    axis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE);
    axis.HomeActionSet(RSIAction.RSIActionNONE);
    axis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE);
    axis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE);
 
    double POSITION_TOLERANCE_MAX = Double.MaxValue / 10.0;   // reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException
    axis.PositionToleranceCoarseSet(POSITION_TOLERANCE_MAX);  // set Settling Coarse Position Tolerance to max value
    axis.PositionToleranceFineSet(POSITION_TOLERANCE_MAX);    // set Settling Fine Position Tolerance to max value (so Phantom axis will get immediate MotionDone when target is reached)
 
    axis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM);      // set the MotorType to phantom
 
    Console.WriteLine($"After adding phantom axis..");
    Console.WriteLine($"Axis count: {controller.AxisCountGet()}");
    Console.WriteLine($"Phantom Axis index: {axisNumber}");
    Console.WriteLine($"Motor type: {axis.MotorTypeGet()}");
    Console.WriteLine($"Error limit action: {axis.ErrorLimitActionGet()}");
    Console.WriteLine($"Hardware negative limit action: {axis.HardwareNegLimitActionGet()}");
    Console.WriteLine($"Hardware positive limit action: {axis.HardwarePosLimitActionGet()}");
    Console.WriteLine($"Home action: {axis.HomeActionGet()}");
    Console.WriteLine($"Software negative limit action: {axis.SoftwareNegLimitActionGet()}");
    Console.WriteLine($"Software positive limit action: {axis.SoftwarePosLimitActionGet()}");
    Console.WriteLine($"Position tolerance coarse: {axis.PositionToleranceCoarseGet()}");
    Console.WriteLine($"Position tolerance fine: {axis.PositionToleranceFineGet()}");
 
    // restore defaults
    controller.AxisCountSet(DEFAULT_AXIS_COUNT);
    Console.WriteLine($"\nRestored Axis count: {controller.AxisCountGet()}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}