AxisStatus.cs

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

namespace SampleAppsCS
{
    class AxisStatus
    {
        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 PrintSource(Axis axis, RSISource source)
        {
            Console.WriteLine("\nThe source of the axis error is: " + axis.SourceNameGet(source));                  // SourceNameGet will return the first status bit which is set on an Axis or MultiAxis.
        }

        private static void PrintState(RSIState state)
        {
            Console.WriteLine("\nYour Axis is in state: " + state);
        }

    }
}