Status & Faults

Table of Contents

• 🔹 RapidSetup Status Page
• 🔹 RapidCode API Status Calls
• 📜 Sample Code

Read status using our API or tools.

🔹 RapidSetup Status Page

🔹 RapidCode API Status Calls

There are a couple of ways that you can check the status of your axis, look at the following to see which one fits you best:

Method	Description
Axis.StateGet()	Gets the state of your axis.
Axis.SourceGet()	Gets the source of the error.
Axis.SourceNameGet()	Gets the full name of the source error including drive errors/faults.
Axis.StatusBitGet()	Check if a RSIEventType is active.

📜 Sample Code

• C#

  /*  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(Constants.AXIS_0_INDEX);
      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
  }