PhantomAxis.cs

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

namespace SampleAppsCS
{
    class PhantomAxis
    {
        static void Main(string[] args)
        {
            // RapidCode objects
            Axis phantomAxis;                                   // Declare what 'axis' is

            // 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.

            try
            {
                controller.AxisCountSet(controller.AxisCountGet() + 1);                         // Configure one additional axis to be used for the phantom axis

                int axisNumber = controller.AxisCountGet() - 1;                                 // Set the axis number to the last axis on the network (subtract one because the axes are zero indexed)

                Console.WriteLine("\nPhantom Axis Example");

                Console.WriteLine("\nCreate Phantom Axis\n");

                phantomAxis = controller.AxisGet(axisNumber);                                   // Initialize Axis class
                SampleAppsCS.HelperFunctions.CheckErrors(phantomAxis);                          // [Helper Function] Check that the axis has been initialized correctly

                // These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary)
                // Therefore, you must set all of their actions to "NONE".

                Console.WriteLine("\nSetting all limit actions to NONE...\n");

                phantomAxis.ErrorLimitActionSet(RSIAction.RSIActionNONE);                       // Set Error Limit Action.
                phantomAxis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE);                 // Set Hardware Negative Limit Action.
                phantomAxis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE);                 // Set Hardware Positive Limit Action.
                phantomAxis.HomeActionSet(RSIAction.RSIActionNONE);                             // Set Home Action.
                phantomAxis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE);                 // Set Software Negative Limit Action.
                phantomAxis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE);                 // Set Software Positive Limit Action.

                const double positionToleranceMax = Double.MaxValue / 10.0;                      // reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException
                phantomAxis.PositionToleranceCoarseSet(positionToleranceMax);                   // Set Settling Coarse Position Tolerance to max value
                phantomAxis.PositionToleranceFineSet(positionToleranceMax);                     // Set Settling Fine Position Tolerance to max value (so Phantom axis will get immediate MotionDone when target is reached)

                Console.WriteLine("\nComplete\n");

                Console.WriteLine("\nSetting MotorType...\n");

                phantomAxis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM);                     // Set the MotorType to phantom

                Console.WriteLine("\nComplete\n");

                Console.WriteLine("\nPhantom Axis created\n");
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}