StopRate.cs

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


namespace SampleAppsCS
{
    class StopRate
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;                      // Specify which axis/motor to control.
            const double STOP_RATE_DEFAULT = 1.0;           // Specify the default STOP rate in seconds.
            const double ESTOP_RATE_DEFAULT = 0.05;         // Specify the default ESTOP rate in seconds.
            const double ESTOP_DECELERATION_RATE = 1000;    // Specify the default ESTOP deceleration rate 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] Verify the controller has started 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.

            try
            {
                Console.WriteLine("OLD: StopRate = " + Math.Round(axis.StopTimeGet(), 4) + "\t\teStopRate = " + Math.Round(axis.EStopTimeGet(), 4) + "\n" + "\t\tDecelRate = " + Math.Round(axis.EStopDecelerationGet(), 4) + "\n");

                axis.StopTimeSet(STOP_RATE_DEFAULT);                                                // Set the default STOP time to STOP_RATE_DEFAULT secs.
                axis.EStopTimeSet(ESTOP_RATE_DEFAULT);                                              // Set the default ESTOP time to ESTOP_RATE_DEFAULT secs.
                axis.EStopDecelerationSet(ESTOP_DECELERATION_RATE);                                 // Set the default ESTOP time to ESTOP_DECELERATION_RATE secs.

                Console.WriteLine("NEW: StopRate = " + Math.Round(axis.StopTimeGet(), 4) + "\t\teStopRate = " + Math.Round(axis.EStopTimeGet(), 4) + "\n" + "\t\tDecelRate = " + Math.Round(axis.EStopDecelerationGet(), 4) + "\n");


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