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();
}
static void Main(string[] args)
{
// Constants
const int MASTER_AXIS = 0; // Specify which axis will be the master axis
const int SLAVE_AXIS = 1; // Specify which axis will be the slave axis
const int USER_UNITS = 1048576; // Specify your counts per unit / user units. (the motor used in this sample app has 1048576 encoder pulses per revolution)
const int POSITION1 = 50; // Specify the position to travel to.
const int POSITION2 = 0; // Specify the position to travel to.
const double VELOCITY = 10; // Specify your velocity - units: units/sec (it will do (1048576*10)counts/10-revolutions every 1 second.)
const double ACCELERATION = 100; // Specify your acceleration - units: units/sec^2
const double DECELERATION = 100; // Specify your deceleration - units: units/sec^2
const double JERK_PERCENT = 50; // Specify your jerk percentage
// 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.
Axis master = controller.AxisGet(MASTER_AXIS); // Initialize master Class. (Use RapidSetup Tool to see what is your axis number)
Axis slave = controller.AxisGet(SLAVE_AXIS); // Initialize slave Class.
SampleAppsCS.HelperFunctions.CheckErrors(master); // [Helper Function] Check that the master axis has been initialize correctly.
SampleAppsCS.HelperFunctions.CheckErrors(slave); // [Helper Function] Check that the slave axis has been initialize correctly.
try
{
controller.AxisCountSet(2); // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.
master.UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
master.ErrorLimitTriggerValueSet(1); // Specify the position error limit trigger. (Learn more about this on our support page)
slave.UserUnitsSet(USER_UNITS);
slave.ErrorLimitTriggerValueSet(1);
slave.ErrorLimitActionSet(RSIAction.RSIActionNONE); // If NOT using a Phantom Axis, switch to RSIActionABORT
master.Abort(); // If there is any motion happening, abort it.
slave.Abort();
master.ClearFaults(); // Clear faults.
slave.ClearFaults();
master.AmpEnableSet(true); // Enable the motor.
slave.AmpEnableSet(true);
master.PositionSet(0); // Zero the position (in case the program is run multiple times)
slave.PositionSet(0); // this negates homing, so only do it in test/sample code.
Console.WriteLine("Gearing Example");
int numerator = 2; // Specify the numerator of the gearing ratio.
int denominator = 1; // Specify the denominator of the gearing ratio.
// Configure the 'slave' axis to be a slave to the 'master' axis at a ratio of 2:1, that is,
// for every rotation of the master axis, the slave axis will rotate twice.
slave.GearingEnable(master,
RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
numerator,
denominator);
Console.WriteLine("\nTesting for Gearing Ratio {0}/{1}\n", numerator, denominator);
master.MoveSCurve(POSITION1,
VELOCITY,
ACCELERATION,
DECELERATION,
JERK_PERCENT); // Perform a S-curve motion on the master axis.
master.MotionDoneWait(); // Wait for motion to finish.
// Test changing the gearing ratio to -1:1, that is,
// for every rotation of the master axis, the slave axis will rotate once in the opposite direction
numerator = -1;
denominator = 1;
slave.GearingRatioChange(numerator, denominator); // Change the electronic gearing ratio
Console.WriteLine("\nTesting for Gearing Ratio {0}/{1}\n", numerator, denominator);
master.MoveSCurve(POSITION2, // New Position.
VELOCITY,
ACCELERATION,
DECELERATION,
JERK_PERCENT); // Perform a S-curve motion on the master axis again.
master.MotionDoneWait(); // Wait for motion to finish.
Console.WriteLine("\nDisable Gearing\n");
slave.GearingDisable(); // Disable gearing on the slave.
master.AmpEnableSet(true); // Disable the motor.
slave.AmpEnableSet(true);
Console.WriteLine("\nTest Complete\n");
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.
Console.ReadKey();
}