static void Main(string[] args)
{
// Constants
const int AXIS_NUMBER = 0; // Specify which axis/motor to control.
// 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 initialized correctly.
SampleAppsCS.HelperFunctions.StartTheNetwork(controller); // [Helper Function] Initialize the network.
Axis axis = controller.AxisGet(AXIS_NUMBER); // Initialize the axis.
SampleAppsCS.HelperFunctions.CheckErrors(axis); // [Helper Function] Check that the axis has been initialized correctly.
try
{
// CHECK AXIS STATE
RSIState state = axis.StateGet(); // StateGet will return RSIState enum name of the current state of the Axis or MultiAxis. (Ex: RSIStateERROR)
RSISource source; // Declare a RSISource variable.
switch (state)
{
case RSIState.RSIStateIDLE:
case RSIState.RSIStateMOVING:
PrintState(state);
break;
case RSIState.RSIStateERROR:
case RSIState.RSIStateSTOPPING_ERROR:
case RSIState.RSIStateSTOPPED:
case RSIState.RSIStateSTOPPING:
source = axis.SourceGet(); // SourceGet will return the RSISource enum name of the first status bit that is active. (Ex: RSISourceAMP_FAULT)
PrintState(state);
PrintSource(axis, source);
break;
default:
Console.WriteLine("");
break;
}
// or USE STATUS BIT GET
bool isAmpFault_Active = axis.StatusBitGet(RSIEventType.RSIEventTypeAMP_FAULT); // StatusBitGet returns the state of a status bit, true or false.
bool isPositionErrorLimitActive = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_ERROR);
bool isHWNegativeLimitActive = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_HW_NEG);
bool isHWPostiveLimitActive = axis.StatusBitGet(RSIEventType.RSIEventTypeLIMIT_HW_POS); // This can be done for all RSIEventTypes
Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.
Console.ReadKey();
}
catch (Exception e)
{
Console.WriteLine(e.Message); // If there are any exceptions/issues this will be printed out.
}
}
private static void PrintState(RSIState state)
{
Console.WriteLine("\nYour Axis is in state: " + state);
}
