Template.cs

 
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using System;
 
class Template
  {
    static void Main(string[] args)
    {
      // Constants
      const int AXIS_NUMBER = 0;              // Specify which axis/motor to control.
      const int ENCODER_RESOLUTION_BITS = 20; // The number of bits defining the encoder resolution
 
      // Specify your counts per unit/user units. (the motor used in this sample app has 1048576 encoder pulses per revolution)       
      double USER_UNITS = Math.Pow(2, ENCODER_RESOLUTION_BITS); //1048576 Setting the user units to this value will result in a commaneded position of 1 spinning the motor 1 full revolution
 
      // Initialize RapidCode Objects
      MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);// Insert the path location of the RMP.rta (usually the RapidSetup folder) 
      HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialize correctly.
      HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.            
      //controller.AxisCountSet(1);                                                           // Uncomment if using Phantom Axes.
      Axis axis = controller.AxisGet(AXIS_NUMBER);                                            // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
      HelperFunctions.CheckErrors(axis);                                         // [Helper Function] Check that the axis has been initialize correctly.
 
      try
      {
        axis.UserUnitsSet(USER_UNITS);     // Specify the counts per Unit.
        axis.ErrorLimitTriggerValueSet(1); // Specify the position error limit trigger. (Learn more about this on our support page)
        axis.PositionSet(0);               // Make sure motor starts at position 0 everytime.
        axis.ErrorLimitTriggerValueSet(1); // Set the position error trigger value
        axis.Abort();                      // If there is any motion happening, abort it.
        axis.ClearFaults();                // Clear faults.
        axis.AmpEnableSet(true);           // Enable the motor.
 
        Console.WriteLine("\nHello RMP");
 
        //-----INSERT YOUR SAMPLE CODE HERE-----
 
 
        //-----INSERT YOUR SAMPLE CODE HERE-----
      }
      catch (Exception e)
      {
        Console.WriteLine(e.Message); // If there are any exceptions/issues this will be printed out.
      }
      controller.Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
 
      Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.
      Console.ReadKey();
    }
  }