MotionController Axis MultiAxis IO IOPoint NetworkNode RsiError
Sample Apps Changelog

RapidCode API

using RSI.RapidCode.dotNET; // Import our RapidCode library
using RSI.RapidCode.dotNET.Enums;
using System;
namespace SampleAppsCS
class HardwareLimits
static void Main(string[] args)
// Constants
const int AXIS_NUMBER = 0; // Specify which axis/motor we will be controlling.
const bool ACTIVE_HIGH = true; // Constant for active high.
const bool ACTIVE_LOW = false; // Constant for active low.
const double HW_POS_DURATION_TIME = 0.01; // Positive limit duration. (in seconds)
const double HW_NEG_DURATION_TIME = 0.01; // Negative limit duration. (in seconds)
// 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.
//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)
SampleAppsCS.HelperFunctions.CheckErrors(axis); // [Helper Function] Check that the axis has been initialize correctly.
Console.WriteLine("Hardware Limits Example\n");
// Change Hardware POSITIVE (+) Limit characteristics.
axis.HardwarePosLimitActionSet(RSIAction.RSIActionE_STOP); // Set the positive limit action to E_STOP.
Console.WriteLine("\nHardware Positive Limit Action set to " + axis.HardwarePosLimitActionGet());
axis.HardwarePosLimitTriggerStateSet(ACTIVE_HIGH); // Set the positive limit trigger state to ACTIVE_HIGH.
Console.WriteLine("\nHardware Positive Limit TriggerState set to " + axis.HardwarePosLimitTriggerStateGet());
axis.HardwarePosLimitDurationSet(HW_POS_DURATION_TIME); // Set the positive limit duration to 0.01 seconds.
Console.WriteLine("\nHardware Positive Limit Duration set to " + axis.HardwarePosLimitDurationGet() + " seconds");
// Change Hardware NEGATIVE (-) Limit charateristics.
axis.HardwareNegLimitActionSet(RSIAction.RSIActionE_STOP); // Set the negative limit action to E_STOP.
Console.WriteLine("\nHardware Negative Limit Action set to " + axis.HardwareNegLimitActionGet());
axis.HardwareNegLimitTriggerStateSet(ACTIVE_LOW); // Set the negative limit trigger state to ACTIVE_LOW.
Console.WriteLine("\nHardware Negative Limit TriggerState set to " + axis.HardwareNegLimitTriggerStateGet());
axis.HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME); // Set the negative limit duration to 0.01 seconds.
Console.WriteLine("\nHardware Negative Limit Duration set to " + axis.HardwareNegLimitDurationGet() + " seconds\n");
Console.WriteLine("\nAll Hardware Limit characteristics set\n");
catch (Exception e)
Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.