static void Main(string[] args)
{
// RapidCode objects
Axis phantomAxis; // Declare what 'axis' is
// Initialize RapidCode Objects
MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/); // Insert the path location of the RMP.rta (usually the RapidSetup folder)
SampleAppsCS.HelperFunctions.CheckErrors(controller); // [Helper Function] Check that the controller has been initialize correctly.
SampleAppsCS.HelperFunctions.StartTheNetwork(controller); // [Helper Function] Initialize the network.
try
{
controller.AxisCountSet(controller.AxisCountGet() + 1); // Configure one additional axis to be used for the phantom axis
int axisNumber = controller.AxisCountGet() - 1; // Set the axis number to the last axis on the network (subtract one because the axes are zero indexed)
Console.WriteLine("\nPhantom Axis Example");
Console.WriteLine("\nCreate Phantom Axis\n");
phantomAxis = controller.AxisGet(axisNumber); // Initialize Axis class
SampleAppsCS.HelperFunctions.CheckErrors(phantomAxis); // [Helper Function] Check that the axis has been initialized correctly
// These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary)
// Therefore, you must set all of their actions to "NONE".
Console.WriteLine("\nSetting all limit actions to NONE...\n");
phantomAxis.ErrorLimitActionSet(RSIAction.RSIActionNONE); // Set Error Limit Action.
phantomAxis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE); // Set Hardware Negative Limit Action.
phantomAxis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE); // Set Hardware Positive Limit Action.
phantomAxis.HomeActionSet(RSIAction.RSIActionNONE); // Set Home Action.
phantomAxis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE); // Set Software Negative Limit Action.
phantomAxis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE); // Set Software Positive Limit Action.
Console.WriteLine("\nComplete\n");
Console.WriteLine("\nSetting MotorType...\n");
phantomAxis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM); // Set the MotorType to phantom
Console.WriteLine("\nComplete\n");
Console.WriteLine("\nPhantom Axis created\n");
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.
Console.ReadKey();
}
