axis-config-phantom-axis.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: Phantom Axis");
 
// get rmp objects
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 axisIndex = controller.AxisCountGet() - 1;  // last axis [zero-based]
    Axis axis = controller.AxisGet(axisIndex);
    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($"Phantom Axis index: {axisIndex}");
    Console.WriteLine($"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
}