StopRate.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
void StopRateMain()
{
    using namespace RSI::RapidCode;

    const int AXIS_NUMBER = 0;

    //Define STOP and ESTOP rates in seconds. 
    //The value entered here will be the new STOP and ESTOP rates (second).
    const float STOP_RATE_DEFAULT = ((float)1.0);  //seconds
    const float ESTOP_RATE_DEFAULT = ((float)0.050); //seconds

    /* Command line arguments and defaults */
    float   stopRate = STOP_RATE_DEFAULT;
    float   eStopRate = ESTOP_RATE_DEFAULT;

    char rmpPath[] = "C:\\RSI\\X.X.X\\";            // Insert the path location of the RMP.rta (usually the RapidSetup folder)
    // Initialize MotionController class.
    MotionController   *controller = MotionController::CreateFromSoftware(/*rmpPath*/);   // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 

    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);           // [Helper Function] Initialize the network.

        Axis *axis = controller->AxisGet(AXIS_NUMBER);                         // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                     // [Helper Function] Check that the axis has been initialize correctly.

        //display old STOP and ESTOP rates.
        printf("OLD: StopRate = %f   eStopRate = %f\n",
            axis->StopTimeGet(),
            axis->EStopTimeGet());

        //Replacing new values of STOP and ESTOP rates(seconds). Values set above.
        axis->StopTimeSet(stopRate);
        axis->EStopTimeSet(eStopRate);

        //display new STOP and ESTOP rates.
        printf("\nNEW: StopRate = %f   eStopRate = %f\n\n",
            axis->StopTimeGet(),
            axis->EStopTimeGet());
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}