axis-config-settling.cs

/*  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");
 
// get rmp objects
MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(axisNumber: 0);
    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}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}