StateGet()

RSIState StateGet

(

)

Description:

StateGet returns the current state of the Axis or MultiAxis.

Returns

(::RSIState) The current state of the Axis or MultiAxis.

Part of the State and Status method group.

Sample Code:

Axis Status

/*  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
}

RapidSetup:

Go to the Axis or MultiAxis screen -> Status.

See also

StateGet, Abort, EStop, EStopModify, TriggeredModify, Stop, Resume, ClearFaults, MotionDoneGet

RSIState, SourceGet

Examples

SyncOutputWithMotion.cpp, UpdateBufferPoints.cpp, _helpers.cs, axis-status.cs, difference-of-position-user-limit.cpp, and mathblock-difference-of-position-userlimit.cs.