axis-config-userunits.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Config: UserUnits");
 
// set sample config params
double defaultUserUnits = 1;
 
// get rmp objects
MotionController controller = MotionController.Get();
Axis axis = controller.AxisGet(axisNumber: 0);
    
try
{
    Helpers.CheckErrors(controller);
    Helpers.CheckErrors(axis);
 
    // get defaults
    defaultUserUnits = axis.UserUnitsGet();
 
    int ENCODER_RESOLUTION_BITS = 20;  // Encoder resolution in bits
 
    // Define counts per unit (user units)
    // Example: 2^20 = 1,048,576 pulses/rev → a command of 1 = one full revolution
    double USER_UNITS = Math.Pow(2, ENCODER_RESOLUTION_BITS);
 
    // set
    axis.UserUnitsSet(USER_UNITS);
    axis.ErrorLimitTriggerValueSet(1);  // Position error limit trigger (see support page)
 
    // get
    double userUnits = axis.UserUnitsGet();
 
    Console.WriteLine($"User Units: {userUnits}");
}
// handle errors as needed
finally
{
    axis.UserUnitsSet(defaultUserUnits);  // restore
    controller.Delete();                  // dispose
}