axis-config-settling.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.

/*  This sample app demonstrates how to set and get axis settling parameters using 
    RapidCode .NET API.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config: Settling");
 
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);

    // get
    double posTolFine = axis.PositionToleranceFineGet();
    double posTolCoarse = axis.PositionToleranceCoarseGet();
    double velTol = axis.VelocityToleranceGet();
    double setTime = axis.SettlingTimeGet();
    
    // set
    axis.PositionToleranceFineSet(posTolFine);      // set fine position tolerance.
    axis.PositionToleranceCoarseSet(posTolCoarse);  // set coarse position tolerance.
    axis.VelocityToleranceSet(velTol);              // set velocity tolerance.
    axis.SettlingTimeSet(setTime);                  // set settling time (seconds).
 
    Console.WriteLine($"Position Tolerance Fine: {posTolFine}");
    Console.WriteLine($"Position Tolerance Coarse: {posTolCoarse}");
    Console.WriteLine($"Velocity Tolerance: {velTol}");
    Console.WriteLine($"Settling Time: {setTime}");
 
    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;