axis-config-settling.cs

 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config Settling");
 
// get rmp objects
using MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_INDEX);
    Helpers.CheckErrors(axis);
 
    double POSITION_TOLERANCE_FINE = 200;    // Specify the fine position tolerance.
    double POSITION_TOLERANCE_COARSE = 300;  // Specify the coarse position tolerance.
    double VELOCITY_TOLERANCE = 12000;       // Specify the velocity tolerance.
    double SETTLING_TIME = 5;                // Specify the settling time.
 
    // set
    axis.PositionToleranceFineSet(POSITION_TOLERANCE_FINE);      // Set fine position tolerance.
    axis.PositionToleranceCoarseSet(POSITION_TOLERANCE_COARSE);  // Set coarse position tolerance.
    axis.VelocityToleranceSet(VELOCITY_TOLERANCE);               // Set velocity tolerance.
    axis.SettlingTimeSet(SETTLING_TIME);                         // Set settling time (seconds).
 
    // get
    double posTolFine = axis.PositionToleranceFineGet();
    double posTolCoarse = axis.PositionToleranceCoarseGet();
    double velTol = axis.VelocityToleranceGet();
    double setTime = axis.SettlingTimeGet();
 
    Console.WriteLine($"Position Tolerance Fine: {posTolFine}");
    Console.WriteLine($"Position Tolerance Coarse: {posTolCoarse}");
    Console.WriteLine($"Velocity Tolerance: {velTol}");
    Console.WriteLine($"Settling Time: {setTime}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}