axis-status.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Status");
 
// get rmp objects
using MotionController controller = MotionController.Get();
    
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_INDEX);
    Helpers.CheckErrors(axis);
 
    // get axis state
    RSIState state = axis.StateGet();
    Console.WriteLine("Axis 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();             // SourceGet returns the RSISource enum name of the first status bit that is active. (Ex: RSISourceAMP_FAULT)
            string sourceName = axis.SourceNameGet(source);  // SourceNameGet returns the first status bit which is set on an Axis or MultiAxis.
            Console.WriteLine("Axis source error: " + sourceName);
            break;
    }
 
    // get axis status bits (works for all RSIEventTypes)
    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($"Hardware Negative Limit Active: {isHWNegLimActive}");
    Console.WriteLine($"Hardware Positive Limit Active: {isHWPosLimActive}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}