static void Main(string[] args)
{
// Constants
const int AXIS_NUMBER = 0; // Specify which axis/motor to control
const int RELATIVE_POSITION1 = 25; // Specify the first relative position to move to
const int RELATIVE_POSITION2 = -50; // Specify the second relative position to move to
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 VELOCITY = 10; // Specify your velocity - units: Units/Sec (it will do "1048576 counts / 1 motor revolution" per second)
const int ACCELERATION = 100; // Specify your acceleration - units: Units/Sec^2
const int DECELERATION = 100; // Specify your deceleration - units: Units/Sec^2
const int JERK_PCT = 50; // Specify your jerk percent - units: Units/Sec^2
// 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.
Axis axis = controller.AxisGet(AXIS_NUMBER); // Initialize the axis.
SampleAppsCS.HelperFunctions.CheckErrors(axis); // [Helper Function] Check that the axis has been initialized correctly.
try
{
axis.UserUnitsSet(USER_UNITS); // Specify the counts per Unit. (every 1048576 counts my motor does one full turn) (varies per motor)
axis.ErrorLimitTriggerValueSet(1); // Specify the position error limit trigger. (Learn more about this on our support page)
axis.PositionSet(0); // Ensure motor starts at position 0 every time
axis.Abort(); // If there is any motion happening, abort it
axis.ClearFaults(); // Clear any fualts
axis.AmpEnableSet(true); // Enable the axis
Console.WriteLine("Relative Motion Example\n");
axis.MoveSCurve(25, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT); // To demonstrate relative motion, we will start the axis at position 25.
axis.MotionDoneWait(3000); // Then, when we make a relative move to RELATIVE_POSITION1, we will end up at position 50, and
// and when we move to RELATIVE_POSITION2, we will be back at position 0.
// NOTE that this move is an ABSOLUTE MOVE, so it moves the axis to position 25 rather than 25
// units ahead of the current position.
// Wait for Motion to finish. (the motion should take 2.5 seconds)
// (if the motion is not done in 3000 milliseconds, MotionDoneWait() will throw an error)
Console.WriteLine("\nRelative move of " + RELATIVE_POSITION1 + " from " + axis.ActualPositionGet() + "...\n");
axis.MoveRelative(RELATIVE_POSITION1, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT); // Command a relative move
axis.MotionDoneWait(3000); // Wait for motion to finish. (the motion should take 2.5 seconds)
// (if the motion is not done in 3000 milliseconds, MotionDoneWait() will throw an error)
Console.WriteLine("\nFinal Position: " + axis.ActualPositionGet() + "\n");
Console.WriteLine("\nRelative move of " + RELATIVE_POSITION2 + " from " + axis.ActualPositionGet() + "...\n");
axis.MoveRelative(RELATIVE_POSITION2, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT); // Command a relative move. (the motion should take 5 seconds)
axis.MotionDoneWait(6000); // Wait for the motion to finish. (the motion should take 5 seconds)
// (if the motion is not done in 6000 milliseconds, MotionDoneWait() will throw an error)
Console.WriteLine("\nFinal Position: " + axis.ActualPositionGet() + "\n");
Console.WriteLine("\nDone\n");
axis.AmpEnableSet(false); // Disable the axis
}
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 AXIS_NUMBER = 0; // Specify which axis/motor to control.
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)
// 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.
Axis axis = controller.AxisGet(AXIS_NUMBER); // Initialize the axis.
SampleAppsCS.HelperFunctions.CheckErrors(axis); // [Helper Function] Check that the axis has been initialized correctly.
try
{
// Get Axis Ready for Motion
axis.UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
axis.ErrorLimitTriggerValueSet(1); // Specify the position error limit trigger. (Learn more about this on our support page)
axis.PositionSet(0); // Make sure motor starts at position 0 everytime.
axis.DefaultVelocitySet(1); // Specify velocity.
axis.DefaultAccelerationSet(10); // Specify acceleration.
axis.DefaultDecelerationSet(10); // Specify deceleration.
axis.FeedRateSet(1); // Make sure the FeedRate has its default value.
axis.Abort(); // If there is any motion happening, abort it.
axis.ClearFaults(); // Clear faults.
axis.AmpEnableSet(true); // Enable the motor.
// Start Motion
Console.WriteLine("Motion Start");
axis.MoveSCurve(15); // Call MoveScurve to move to a position.
while (axis.ActualPositionGet() < 10)
{
} // Wait here until we reach position "15".
axis.Stop(); // Stop the axis/motor.
axis.MotionDoneWait(); // Wait for move to complete.
axis.FeedRateSet(-1); // Change FeedRate to reverse motion.
axis.Resume(); // Start Reverse Motion.
Console.WriteLine("New Feed Rate Start");
while (axis.ActualPositionGet() > 5)
{
} // Wait here until we reach position "5".
axis.Stop(); // Stop the axis/motor.
axis.MotionDoneWait(); // Wait for move to complete.
axis.FeedRateSet(1); // Change FeedRate to default value.
axis.Resume(); // Resume the MoveScurve Motion.
Console.WriteLine("New Feed Rate Start");
axis.MotionDoneWait(); // Wait for move to complete.
axis.AmpEnableSet(true); // Disable axis/motor.
}
catch (Exception 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();
}
