axis-config-userunits.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: 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
}