axis-status.cs

Note

See Axis: Status 📜 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.

/*  This sample application demonstrates how to read the status of an axis using the RapidCode .NET API. 
    It checks the current state of the axis and identifies any error sources if the axis is not operating normally. 
    Additionally, it shows how to check specific status bits for conditions such as amplifier faults and limit switches.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis: Status");
 
// get rmp objects
MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(axisNumber: 0);
    Helpers.CheckErrors(axis);
 
    // get state
    RSIState state = axis.StateGet();
    Console.WriteLine($"Your Axis is in state: {state}");
 
    switch (state)
    {
        case RSIState.RSIStateIDLE:
        case RSIState.RSIStateMOVING:
            break;
 
        case RSIState.RSIStateERROR:
        case RSIState.RSIStateSTOPPING_ERROR:
        case RSIState.RSIStateSTOPPED:
        case RSIState.RSIStateSTOPPING:
        RSISource source = axis.SourceGet();                                                      // get state source enum
            Console.WriteLine($"The source of the axis error is: {axis.SourceNameGet(source)}");  // get first status bit set on this axis
            break;
 
        default:
            Console.WriteLine("Axis is in an unexpected state.");
            break;
    }
 
    // get some RSIEventTypes status bits
    bool isAmpFaultActive  = axis.StatusBitGet(RSIEventType.RSIEventTypeAMP_FAULT);
    bool isPosErrLimActive = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_ERROR);
    bool isHwNegLimActive  = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_HW_NEG);
    bool isHwPosLimActive  = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_HW_POS);
 
    Console.WriteLine($"Amp Fault Active: {isAmpFaultActive}");
    Console.WriteLine($"Position Error Limit Active: {isPosErrLimActive}");
    Console.WriteLine($"HW Negative Limit Active: {isHwNegLimActive}");
    Console.WriteLine($"HW Positive Limit Active: {isHwPosLimActive}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}