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.
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();
}
static void Main(string[] args)
{
// Constants
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) ("user unit = 1" means it will do one count out of the 1048576)
const int MASTER_AXIS_NUMBER = 0; // Specify which is your master axis/motor.
const int SLAVE_AXIS_NUMBER = 1; // Specify which is your slave axis/motor.
const double MASTER_VELOCITY = 2; // Specify your master's axis velocity. - units: Units/Sec (it will do 1 counts / (1/104857) of a revolution every 1 second.)
const double MASTER_ACCELERATION = 10; // Specify your master's acceleration. - units: Units/Sec^2
// Commanded Positions
double[] masterDistances = { 5 * USER_UNITS, 20 * USER_UNITS, 15 * USER_UNITS }; // This is the RELATIVE master distance, every n revolutions it changes its slave position. (This is the x-axis)
double[] slavePositions = { 10 * USER_UNITS, 20 * USER_UNITS, 10 * USER_UNITS }; // This is the final ABSOLUTE slave position, for every 5 revolutions one of this positions gets applied. (This is the y-axis)
// Initialize RapidCode Objects
MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/); // Insert the path location of the RMP.rta (usually the RapidSetup folder) (This sample app used RMP 8.1.3).
SampleAppsCS.HelperFunctions.CheckErrors(controller); // [Helper Function] Check that the controller has been initialized correctly.
SampleAppsCS.HelperFunctions.StartTheNetwork(controller); // [Helper Function] Initialize the network.
Axis master = controller.AxisGet(MASTER_AXIS_NUMBER); // Initialize master Class. (Use RapidSetup Tool to see what is your axis number)
Axis slave = controller.AxisGet(SLAVE_AXIS_NUMBER); // 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); // (MUST BE SET TO 1 FOR CAMMING MOTION)
master.ErrorLimitTriggerValueSet(1000); // Specify the position error limit trigger. (Learn more about this on our support page)
slave.UserUnitsSet(USER_UNITS); // (MUST BE SET TO 1 FOR CAMMING MOTION)
slave.ErrorLimitTriggerValueSet(1000);
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); // this negates homing, so only do it in test/sample code.
slave.PositionSet(0);
// Command motion on the slave before the master starts
slave.MoveCamLinear(master.NumberGet(),
RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // This specified to use the actual position of the master axis.
masterDistances,
slavePositions,
masterDistances.Length);
master.MoveVelocity(MASTER_VELOCITY, MASTER_ACCELERATION); // Command a constant velocity on the master axis, slave will follow.
slave.MotionDoneWait(); // Wait for the cam motion to complete
master.Stop(); // Stop the master
master.AmpEnableSet(false); // Disable the motor.
slave.AmpEnableSet(false);
Console.WriteLine("\nTest Complete\n");
}
catch (RsiError e)
{
Console.WriteLine(e.Message); // If there are any exceptions/issues this will be printed out.
}
Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.
Console.ReadKey();
}
static void Main(string[] args)
{
// Constants
const int X_AXIS = 0; // Specify which axis will be the x axis
const int Y_AXIS = 1; // Specify which axis will be the y axis
const int NUM_OF_AXES = 2; // Specify the number of axes (Make sure your axis count in RapidSetup is 2!)
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)
// Parameters
double[] positions1 = new double[2] {
100, 200
}; // The first set of positions to be moved to
double[] positions2 = new double[2] {
300, 300
}; // The second set of positions to be moved to
double[] velocities1 = new double[2] {
5, 10
}; // The velocity for the two axes for the first move- Units: units/sec (driver will execute 10 rotations per second)
double[] velocities2 = new double[2] {
10, 5
}; // The velocity for the two axes for the second move
double[] accelerations = new double[2] {
10, 10
}; // The acceleration for the two axes
double[] decelerations = new double[2] {
10, 10
}; // The deceleration for the two axes
double[] jerkPercent = new double[2] {
50, 50
}; // The jerk percent for the two axes
// 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 initialized correctly.
SampleAppsCS.HelperFunctions.StartTheNetwork(controller); // [Helper Function] Initialize the network.
//controller.AxisCountSet(NUM_OF_AXES); // Uncomment when using Phantom Axes.
Axis axis0 = controller.AxisGet(X_AXIS); // Initialize axis0
Axis axis1 = controller.AxisGet(Y_AXIS); // Initialize axis1
SampleAppsCS.HelperFunctions.CheckErrors(axis0); // [Helper Function] Check that 'axis0' has been initialized correctly
SampleAppsCS.HelperFunctions.CheckErrors(axis1); // [Helper Function] Check that 'axis1' has been initialized correctly
controller.MotionCountSet(3); // We will need a motion supervisor for every Axis object and MultiAxis object
// In this application, we have two Axis objects and one MultiAxis object, so three motion supervisors are required
MultiAxis multi = controller.MultiAxisGet(NUM_OF_AXES); // Initialize a new MultiAxis object. MultiAxisGet takes a motion supervisor number as its argument.
// This number is equal to the number of axes since motion supervisors are zero indexed (i.e., motion supervisors
// 0 and 1 are used for axis0 and axis1, so motion supervisor 2 is available for our MultiAxis object).
SampleAppsCS.HelperFunctions.CheckErrors(multi); // [Helper Function] Check that 'multi' has been initialized correctly
controller.AxisCountSet(NUM_OF_AXES); // 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.
multi.AxisRemoveAll(); // Remove all current axis if any. So we can add new ones
multi.AxisAdd(axis0); // Add axis0 to the MultiAxis object
multi.AxisAdd(axis1); // Add axis1 to the MultiAxis object
try
{
axis0.UserUnitsSet(USER_UNITS); // Specify the counts per unit.
axis0.ErrorLimitTriggerValueSet(1); // Specify the position error limit trigger. (Learn more about this on our support page)
axis1.UserUnitsSet(USER_UNITS);
axis1.ErrorLimitTriggerValueSet(1);
multi.Abort(); // If there is any motion happening, abort it
axis0.PositionSet(0); // Zero the position (in case the program is run multiple times)
axis1.PositionSet(0); // This negates homing, so only do it in test/sample code
multi.ClearFaults(); // Clear any faults
multi.AmpEnableSet(true); // Enable the motor
Console.WriteLine("MultiAxis Point-to-Point Motion Example\n");
Console.WriteLine("\nBegin SCurve Motion\n");
//axis0.ErrorLimitActionSet(RSIAction.RSIActionNONE); // Uncomment when using Phantom Axes.
axis1.ErrorLimitActionSet(RSIAction.RSIActionNONE); // Uncomment when using Phantom Axes.
multi.MoveSCurve(positions1, velocities1, accelerations, decelerations, jerkPercent); // Move to the positions specified in positions1 using a trapezoidal motion profile
multi.MotionDoneWait(); // Wait for motion to finish
Console.WriteLine("\nSCurve Motion Complete\n");
Console.WriteLine("\nBegin Trapezoidal Motion\n");
multi.MoveTrapezoidal(positions2, velocities2, accelerations, decelerations); // Move to the positions specified in positions2 using a SCurve motion profile
multi.MotionDoneWait(); // Wait for the motion to finish
multi.AmpEnableSet(false); // Disable the axes
Console.WriteLine("\nTrapezoidal Motion Complete\n");
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();
}
static void Main(string[] args)
{
// Constants
const int HOLDING_AXIS_INDEX = 1; // Specify which axis/motor to control.
const int MOVING_AXIS_INDEX = 0; // Specify which axis/motor to control.
const double TRIGGER_POS = 5; // Specify the position that will be evaluted on triggering/releasing motion
const int USER_UNITS = 1048576; // Specify USER UNITS
// Initialize RapidCode Objects
MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/); // Insert the path location of the RMP.rta (usually the RapidSetup folder) (This sample app used RMP 8.0.1).
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(2); // Specify two Axis in controller
// Initiazlize Axes: holdingAxis and movingAxis
Axis holdingAxis = controller.AxisGet(HOLDING_AXIS_INDEX); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
SampleAppsCS.HelperFunctions.CheckErrors(holdingAxis); // [Helper Function] Check that the axis has been initialize correctly.
Axis movingAxis = controller.AxisGet(MOVING_AXIS_INDEX); // Initialize HoldAxis Class. (Use RapidSetup Tool to see what is your axis number)
SampleAppsCS.HelperFunctions.CheckErrors(movingAxis); // [Helper Function] Check that the 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.
// GET HOLD AXIS READY
holdingAxis.UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
holdingAxis.PositionSet(0); // Make sure motor starts at position 0 everytime.
holdingAxis.ErrorLimitTriggerValueSet(1000); // Specify the position error limit trigger. (Learn more about this on our support page)
holdingAxis.Abort(); // If there is any motion happening, abort it.
holdingAxis.ClearFaults(); // Clear faults.>
holdingAxis.AmpEnableSet(true); // Enable the motor.
// GET MOVE AXIS READY
movingAxis.ErrorLimitActionSet(RSIAction.RSIActionNONE); // If NOT using a Phantom Axis, switch to RSIActionABORT
movingAxis.UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
movingAxis.PositionSet(0); // Make sure motor starts at position 0 everytime.
movingAxis.ErrorLimitTriggerValueSet(1000); // Specify the position error limit trigger. (Learn more about this on our support page)
movingAxis.Abort(); // If there is any motion happening, abort it.
movingAxis.ClearFaults(); // Clear faults.>
movingAxis.AmpEnableSet(true); // Enable the motor.
// SET UP MOTION HOLD // Condition/Configuration to the Axis(movingAxis) that will hold Motion and its Position that will trigger/release motion
holdingAxis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeAXIS_COMMAND_POSITION); // Use RSIMotionHoldTypeAXIS_ACTUAL_POSITION if it is not Phantom Axis.
holdingAxis.MotionHoldAxisNumberSet(movingAxis.NumberGet()); // Specify motion hold to the Axis(movingAxis) whose position will hold the motion of holdingAxis.
holdingAxis.MotionHoldAxisPositionSet(USER_UNITS * TRIGGER_POS); // Specify motion hold position which is the movingAxis's position(need to multiply with USER_UNITS to get correct position value) to trigger/release the motion of holdingAxis.
holdingAxis.MotionHoldAxisLogicSet(RSIUserLimitLogic.RSIUserLimitLogicGE); // Specify the logic condition that will be evaluated to trigger/release motion based on the SET POSITION(USER_UNITS * TRIGGER_POS).In this case, GT(Greater than or Equal to) motion hold position limit to release
// SET MOTION HOLD ON
holdingAxis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD); // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
holdingAxis.MoveRelative(10); // Command simple relative motion(This motion will be hold by condition above until movingAxis's Position passes motion hold position limit)
// Release MOTION HOLD
movingAxis.MoveRelative(10); // Move movingAxis.MovingAxis's position reaches its MotionHold Position limit(in this case, limit is 5). It will trigger/release motion on holdingAxis (holidingAxis will move relatively 10).
movingAxis.MotionDoneWait();
holdingAxis.MotionDoneWait();
// Abort and Clear Faults
holdingAxis.Abort();
holdingAxis.ClearFaults();
movingAxis.Abort();
movingAxis.ClearFaults();
}
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();
}
