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)
const int RELATIVE_POSITION = 50; // Specify which position to travel to.
const int VELOCITY = 10; // Specify your velocity - units: Units/Sec (it will do "10485760 counts/10 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^3
const int FINAL_VELOCITY = 5; // Specify your final velocity - units: Units/Sec
// 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. (Function logic at the bottom of source code)
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 value. (learn more about this on our support page)
axis.PositionSet(0); // Ensure the motor starts at position 0 every time.
axis.Abort(); // If there is any motion happening, abort it.
axis.ClearFaults(); // Clear any faults.
axis.AmpEnableSet(true); // Enable the axis.
Console.WriteLine("\nFinal Velocity Example");
Console.WriteLine("\nSCurve Motion in progress...\n");
axis.MoveSCurve(RELATIVE_POSITION, // Command an SCurve move with a final velocity of FINAL_VELOCITY.
VELOCITY,
ACCELERATION, // Once the commanded position has been reached, the motor will begin
DECELERATION, // spinning with a speed of FINAL_VELOCITY, and continue to spin at that
JERK_PCT, // velocity until stopped.
FINAL_VELOCITY);
controller.OS.Sleep(8000); // Motion should take 8 seconds to complete.
Console.WriteLine("\nSCurve Motion Done\n");
Console.WriteLine("\nMotor now spinning at a speed of " + axis.ActualVelocityGet() + " revs/sec\n");
controller.OS.Sleep(2500); // Let the axis spin for 2.5 seconds before stopping.
Console.WriteLine("\nMotor Stopped\n");
axis.Abort(); // Stop the motion.
axis.AmpEnableSet(false); // Disable the axis.
axis.ClearFaults(); // Clear any faults so the axis is ready to be used again.
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
Console.WriteLine("\nPress Any Key To Exit"); // Allow time to read Console.
Console.ReadKey();
}
