axis-config-stop-rate.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: Stop Rate");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(axisNumber: 0);
    Helpers.CheckErrors(axis);

    // get
    double stopTime = axis.StopTimeGet();
    double eStopTime = axis.EStopTimeGet();
    double eStopDeceleration = axis.EStopDecelerationGet();
 
    // set 
    axis.StopTimeSet(stopTime);                    // set the default STOP time to STOP_RATE_DEFAULT secs.
    axis.EStopTimeSet(eStopTime);                  // set the default ESTOP time to ESTOP_RATE_DEFAULT secs.
    axis.EStopDecelerationSet(eStopDeceleration);  // set the default ESTOP time to ESTOP_DECELERATION_RATE secs.
 
    Console.WriteLine($"Stop Time: {stopTime}");
    Console.WriteLine($"EStop Time: {eStopTime}");
    Console.WriteLine($"EStop Deceleration: {eStopDeceleration}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}