AxisSettling.cs

using RSI.RapidCode.dotNET;                     // Import our RapidCode Library
using System;

namespace SampleAppsCS
{
    class AxisSettling
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;                  // Specify which axis/motor to control.
            const int POSITION_TOLERANCE_FINE = 200;    // Specify the fine position tolerance.
            const int POSITION_TOLERANCE_COARSE = 300;  // Specify the coarse position tolerance.
            const int VELOCITY_TOLERANCE = 12000;       // Specify the velocity tolerance.
            const int SETTLING_TIME = 5;                // Specify the settling time.
            
            // 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
            {
                Console.WriteLine("Settling Criteria Example\n");
                Console.WriteLine("\nOld Criteria\n");

                PrintParameters(axis);                                                              // Print current axis settling parameters.

                axis.PositionToleranceFineSet(POSITION_TOLERANCE_FINE);                             // Set fine position tolerance.
                axis.PositionToleranceCoarseSet(POSITION_TOLERANCE_COARSE);                         // Set coarse position tolerance.
                axis.VelocityToleranceSet(VELOCITY_TOLERANCE);                                      // Set velocity tolerance.
                axis.SettlingTimeSet(SETTLING_TIME);                                                // Set settling time.

                Console.WriteLine("\nNew Criteria\n");

                PrintParameters(axis);                                                              // Print current axis settling parameters.

                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.
            }
        }

        // A method to display all of the setlling criteria
        static void PrintParameters(Axis axis)
        {
            Console.WriteLine("Fine Position Tolerance: " + axis.PositionToleranceFineGet());       // Print fine position tolerance.
            Console.WriteLine("Coarse Position Tolerance: " + axis.PositionToleranceCoarseGet());   // Print coarse position tolerance.
            Console.WriteLine("Velocity Tolerance: " + axis.VelocityToleranceGet());                // Print velocity tolerance.
            Console.WriteLine("Settling Time: " + axis.SettlingTimeGet() + "\n");                   // Print settling time.
        }
    }
}