axis-config-stop-rate.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config Stop Rate");
 
// get rmp objects
using MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_INDEX);
    Helpers.CheckErrors(axis);
 
    double STOP_RATE_DEFAULT = 1.0;         // Specify the default STOP rate in seconds.
    double ESTOP_RATE_DEFAULT = 0.05;       // Specify the default ESTOP rate in seconds.
    double ESTOP_DECELERATION_RATE = 1000;  // Specify the default ESTOP deceleration rate in seconds.
 
    // set
    axis.StopTimeSet(STOP_RATE_DEFAULT);                 // Set the default STOP time to STOP_RATE_DEFAULT secs.
    axis.EStopTimeSet(ESTOP_RATE_DEFAULT);               // Set the default ESTOP time to ESTOP_RATE_DEFAULT secs.
    axis.EStopDecelerationSet(ESTOP_DECELERATION_RATE);  // Set the default ESTOP time to ESTOP_DECELERATION_RATE secs.
 
    // get
    double stopTime = axis.StopTimeGet();
    double eStopTime = axis.EStopTimeGet();
    double eStopDeceleration = axis.EStopDecelerationGet();
 
    Console.WriteLine($"Stop Time: {stopTime}");
    Console.WriteLine($"EStop Time: {eStopTime}");
    Console.WriteLine($"EStop Deceleration: {eStopDeceleration}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}