AxisConfiguration.cpp

Attention

See the following Concept pages for a detailed explanation of this sample: Counts Per Unit (User Units), Hardware Limits, Settling, Stopping Rates.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

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The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

 
#include <cmath>
 
#include "SampleAppsHelper.h" // Import our helper functions.
#include "rsi.h"              // Import our RapidCode Library.
 
using namespace RSI::RapidCode; // Import the RapidCode namespace
 
int main()
{
  // Print a start message to indicate that the sample app has started
  const std::string SAMPLE_APP_NAME = "Axis Configuration";
  SampleAppsHelper::PrintHeader(SAMPLE_APP_NAME);
 
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
  const int NUM_AXES = 1;   // The number of axes to configure, default is 0 for this template
  const int AXIS_INDEX = 0; // The index of the axis to configure
 
  /* RAPIDCODE INITIALIZATION */
 
  // Create the controller
  MotionController::CreationParameters params = SampleAppsHelper::GetCreationParameters();
  MotionController *controller = MotionController::Create(&params);
 
  // Set the exit code to an error value.
  int exitCode = -1;  
  try   // Ensure that the controller is deleted if an error occurs.
  {
    // Prepare the controller as defined in SampleAppsHelper.h depending on the configuration
    SampleAppsHelper::CheckErrors(controller);
    SampleAppsHelper::SetupController(controller, NUM_AXES);
 
    /* SAMPLE APP BODY */
 
    /* SET CONTROLLER OBJECT COUNTS HERE*/
    // Normally you would set the number of axes here, but for samples that is handled in the SampleAppsHelper::SetupController function
    // controller->AxisCountSet(NUM_AXES); 
 
    // Get the axes
    Axis *axis = controller->AxisGet(AXIS_INDEX);
    SampleAppsHelper::CheckErrors(axis);
 
    /* Amp Fault Configuration */
    std::cout << "Configuring Amp Fault parameters\n" << std::endl;
 
    // Parameters
    const double AMP_FAULT_DURATION_TIME = 1;                     // How long the axis must be in the trigger state to be considered an amp fault.
    const RSIAction AMP_FAULT_ACTION = RSIAction::RSIActionABORT; // The action to take when an amp fault occurs.
    const int AMP_FAULT_TRIGGER_STATE = 1;                        // The state that triggers the amp fault, active high = 1, active low = 0.
 
    // SET
    axis->AmpEnableSet(false); // Disable the axis
    axis->AmpFaultDurationSet(AMP_FAULT_DURATION_TIME);
    axis->AmpFaultActionSet(AMP_FAULT_ACTION);
    axis->AmpFaultTriggerStateSet(AMP_FAULT_TRIGGER_STATE);
 
    // GET
    double durationTime = axis->AmpFaultDurationGet();
    RSIAction action = axis->AmpFaultActionGet();
    int triggerState = axis->AmpFaultTriggerStateGet();
 
    std::cout << "Axis Amp Fault parameters have been set" << std::endl;
 
    /* Hardware Limits Configuration */
    std::cout << "Configuring Hardware Limits parameters\n" << std::endl;
 
    // Parameters
    const int TRIGGER_STATE = 1;                        // The state that triggers the positive software limit, active high = 1, active low = 0.
    const double DURATION = 0.01;                       // How long the hardware limit must be in the trigger state to be considered triggered.
    const RSIAction ACTION = RSIAction::RSIActionABORT; // The action to take when the positive hardware limit is triggered.
 
    // SET
    axis->HardwarePosLimitTriggerStateSet(TRIGGER_STATE);
    axis->HardwarePosLimitDurationSet(DURATION);
    axis->HardwarePosLimitActionSet(ACTION);
 
    axis->HardwareNegLimitTriggerStateSet(TRIGGER_STATE);
    axis->HardwareNegLimitDurationSet(DURATION);
    axis->HardwareNegLimitActionSet(ACTION);
 
    // GET
    int posTriggerState = axis->HardwarePosLimitTriggerStateGet();
    double posDuration = axis->HardwarePosLimitDurationGet();
    RSIAction posAction = axis->HardwarePosLimitActionGet();
 
    int negTriggerState = axis->HardwareNegLimitTriggerStateGet();
    double negDuration = axis->HardwareNegLimitDurationGet();
    RSIAction negAction = axis->HardwareNegLimitActionGet();
 
    std::cout << "Axis Hardware Limits have been set" << std::endl;
 
    /* Settling Configuration */
    std::cout << "Configuring Settling parameters\n" << std::endl;
 
    // Parameters
    const double POSITION_TOLERANCE_FINE = 200;   // Tolerance for when a move is considered complete.
    const double POSITION_TOLERANCE_COARSE = 300; // Tolerance for when a move is considered "near" complete.
    const double VELOCITY_TOLERANCE = 12000;      // Tolerance for when a velocity move is considered complete.
    const double SETTLING_TIME = 5;               // How long the axis must be within tolerance to be considered settled.
 
    // SET
    axis->PositionToleranceFineSet(POSITION_TOLERANCE_FINE);
    axis->PositionToleranceCoarseSet(POSITION_TOLERANCE_COARSE);
    axis->VelocityToleranceSet(VELOCITY_TOLERANCE);
    axis->SettlingTimeSet(SETTLING_TIME);
 
    // GET
    double posTolFine = axis->PositionToleranceFineGet();
    double posTolCoarse = axis->PositionToleranceCoarseGet();
    double velTol = axis->VelocityToleranceGet();
    double setTime = axis->SettlingTimeGet();
 
    std::cout << "Axis Settling parameters have been set" << std::endl;
 
    /* Stop Rate Configuration */
    std::cout << "Configuring Stop Rate parameters\n" << std::endl;
 
    // Parameters
    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.
 
    // SET
    axis->StopTimeSet(STOP_RATE_DEFAULT);
    axis->EStopTimeSet(ESTOP_RATE_DEFAULT);
    axis->EStopDecelerationSet(ESTOP_DECELERATION_RATE);
 
    // GET
    double stopRate = axis->StopTimeGet();
    double eStopRate = axis->EStopTimeGet();
    double eStopDeceleration = axis->EStopDecelerationGet();
 
    std::cout << "Axis Stop Rate parameters have been set" << std::endl;
 
    /* User Units Configuration */
    std::cout << "Configuring User Units parameters\n" << std::endl;
 
    // Parameters
    const int ENCODER_RESOLUTION_BITS = 20;                         // The number of bits defining the encoder resolution
    const double USER_UNITS = std::pow(2, ENCODER_RESOLUTION_BITS); // The number of user units per revolution
                                                                    // (2^20 = 1,048,576 user units per revolution)
 
    // SET
    axis->UserUnitsSet(USER_UNITS);
 
    // GET
    double userUnits = axis->UserUnitsGet();
 
    std::cout << "Axis User Units have been set" << std::endl;
 
    exitCode = 0; // Set the exit code to success.
  }
  catch (const std::exception &ex)
  {
    std::cerr << ex.what() << std::endl;
    exitCode = -1;
  }
  // Clean up the controller and any other objects as needed
  SampleAppsHelper::Cleanup(controller);
 
  // Delete the controller as the program exits to ensure memory is deallocated in the correct order
  controller->Delete();
 
  // Print a message to indicate the sample app has finished and if it was successful or not
  SampleAppsHelper::PrintFooter(SAMPLE_APP_NAME, exitCode);
 
  return exitCode;
}