GcodeMotion.cs

Attention

See the following Concept pages for a detailed explanation of this sample: G-Code.

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.

 
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using NUnit.Framework;
using System;
using System.Linq;
using System.Threading;
using System.IO;
using System.Runtime.InteropServices;
 
#if DOXYGEN // RSI internal documentation use only
using RSI.RapidCode;
using RSI.RapidCode.Cartesian; 
#endif
 
public class SampleGcodeCallback : GcodeCallback
{
  public override void Execute(GcodeCallbackData data)
  {
    Console.WriteLine("G-Code Callback executed: " + data.LineNumber + " " + data.LineText);
 
    // if you want to nofity the Gcode object that there's an error processing, set its error details:
    // data.UserError.number = RSIErrorMessage.RSI_ERROR_MESSAGE_DYNAMIC;
    // data.UserError.text = "This is an error from the callback.";
  }
}
 
[TestFixture]
[Category("Software")]
public class GcodeMotion : SampleAppTestBase
{
  [SetUp]
  public void Setup()
  {
    jointsMultiAxis?.AxisRemoveAll();
  }
 
  [TearDown]
  public void Teardown()
  {
    robot?.EStop();
    robot?.MotionDoneWait();
    robot?.ClearFaults();
    Robot.RobotDelete(controller, robot);
    robot = null;
 
    jointsMultiAxis?.Abort();
    Thread.Sleep(50);
    jointsMultiAxis?.ClearFaults();
  }
 
  private void VerifyModel(KinematicModel model, string expectedName, LinearUnits expectedUnits = LinearUnits.None)
  {
    var actualUnits = model.UnitsGet();
    Assert.That(actualUnits, Is.EqualTo(expectedUnits), $"Expected model units to be '{expectedUnits}' but was '{actualUnits}' instead!");
    var actualName = model.NameGet();
    Assert.That(actualName, Is.EqualTo(expectedName), $"Expected model name to be '{expectedName}' but was '{actualName}' instead!");
  }
 
  [Test]
  public void GcodeBasic()
  {
    string gcodeProgram = "G91; Sets the programming mode to RELATIVE\n" +
                      "G64; Turns off exact stop mode(Default)\n" +
                      "G1 X1.0 Y0.0 Z0.0 A1.0 F60.0; Move on USERUNIT in positive x direction at 60in/min. Moves Free axis A to position 1.0.\n" +
                      "G3 X1 Y1 I0 J1; Counter clockwise arc with a center point of 0,1,0 and end point of 1,1,0 relative to the current position\n" +
                      "M80; Show how to use an M-code with GcodeCallback!\n";
 
    // We assume the axes have been confgured and homed properly prior this this program.
    const string xLabel = "X-Axis";
    const string yLabel = "Y-Axis";
    const string zLabel = "Z-Axis";
    const string aLabel = "A-Axis";
 
    x_axis.UserLabelSet(xLabel);
    y_axis.UserLabelSet(yLabel);
    z_axis.UserLabelSet(zLabel);
    a_axis.UserLabelSet(aLabel);
 
    // The joint index of each axis is the index within the MultiAxis object.
    // "X-Axis" has joint index 0
    // "Y-Axis" has joint index 1
    // "Z-Axis" has joint index 2
    // "A-Axis" has joint index 3
    Axis[] axes = new Axis[] { x_axis, y_axis, z_axis, a_axis };
    jointsMultiAxis.AxesAdd(axes, axes.Length);
    jointsMultiAxis.ClearFaults();
    jointsMultiAxis.AmpEnableSet(true);
 
    const string modelName = "RSI_XYZA";
    const double scaling = 1.0, offset = 0.0;
    LinearModelBuilder builder = new LinearModelBuilder(modelName);
    builder.JointAdd(new LinearJointMapping(0, CartesianAxis.X)     { ExpectedLabel = xLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(1, CartesianAxis.Y)     { ExpectedLabel = yLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(2, CartesianAxis.Z)     { ExpectedLabel = zLabel, Scaling = scaling, Offset = offset });
    builder.FreeAxisAdd(new ModelAxisMapping(3)                     { ExpectedLabel = aLabel, Scaling = scaling, Offset = offset }); // Add a free axis.
 
    // Create a Robot object with a multi axis containing all joints and the kinematic type
    robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, MotionController.AxisFrameBufferSizeDefault);
    HelperFunctions.CheckErrors(robot);
    
    robot.Gcode.AccelerationRateSet(1000); // UserUnits per minute squared
    
    // The free axis index here refers to the index in the RobotPosition freeAxes array. We use index 0 here to refer to the first position in that array.
    robot.Gcode.FreeAxisLetterSet('A', 0);
 
    SampleGcodeCallback callback = new SampleGcodeCallback();
    robot.Gcode.CallbackRegister(callback); // Register a callback to be called when the Gcode encounters any M-code command
 
    try
    {
      robot.Gcode.Load(gcodeProgram); // Loads in the string and prepairs it for execution
    }
    catch (Exception e)
    {
      Console.WriteLine("Error loading G-Code: " + e.Message);
      
      // get any additional G-Code errors (will give you details of every line number that has an error in parsing or processing)
      HelperFunctions.CheckErrors(robot.Gcode);
      throw e; // exit the program
    }
    // print some details about the upcoming motion
    Console.WriteLine("G-Code Line Count: " + robot.Gcode.LineCountGet());
    Console.WriteLine("G-Code Error Log Count: " + robot.Gcode.ErrorLogCountGet());
    Console.WriteLine("G-code estimated run time: " + robot.Gcode.DurationGet() + " seconds");
 
    robot.Gcode.Run(); // Starts the motion. Calling with the false arguement for non blocking behavior
    Int64 activeLineNumber = 0;
    do
    {
      Thread.Sleep(200);
      if (activeLineNumber != robot.Gcode.ExecutingLineNumberGet()) // only write if we are on a new line
      {
        activeLineNumber = robot.Gcode.ExecutingLineNumberGet();
        Console.WriteLine("G-Code Line Number: " + activeLineNumber);
      }
    } while (robot.Gcode.IsRunning());
 
    Assert.That(robot.Gcode.ErrorLogCountGet(), Is.EqualTo(0), "Gcode Error Log Count is not zero.  first error: " + robot.Gcode.ErrorLogGet().Message);
    Assert.That(robot.Gcode.LineCountGet(), Is.EqualTo(gcodeProgram.Count(c => c.Equals('\n'))));
    VerifyModel(robot.ModelGet(), modelName);
  }
 
  [Test]
  public void ChangingUnits()
  {
    const string xLabel = "X-Axis";
    const string yLabel = "Y-Axis";
    const string zLabel = "Z-Axis";
    const string aLabel = "A-Axis";
    const string bLabel = "B-Axis";
    const string cLabel = "C-Axis";
 
    x_axis.UserLabelSet(xLabel);
    y_axis.UserLabelSet(yLabel);
    z_axis.UserLabelSet(zLabel);
    a_axis.UserLabelSet(aLabel);
    b_axis.UserLabelSet(bLabel);
    c_axis.UserLabelSet(cLabel);
 
    // The joint index of each axis is the index within the MultiAxis object.
    // "X-Axis" has joint index 0
    // "Y-Axis" has joint index 1
    // "Z-Axis" has joint index 2
    // "A-Axis" has joint index 3
    // "B-Axis" has joint index 4
    // "C-Axis" has joint index 5
    Axis[] axes = new Axis[] { x_axis, y_axis, z_axis, a_axis, b_axis, c_axis };
    jointsMultiAxis.AxesAdd(axes, axes.Length);
    jointsMultiAxis.ClearFaults();
 
    const string modelName = "RSI_XYZABC_Centimeters";
    const LinearUnits units = LinearUnits.Centimeters;
    const double scaling = 1.0, offset = 0.0;
    LinearModelBuilder builder = new LinearModelBuilder(modelName);
    builder.UnitsSet(units);
    builder.JointAdd(new LinearJointMapping(0, CartesianAxis.X)     { ExpectedLabel = xLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(1, CartesianAxis.Y)     { ExpectedLabel = yLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(2, CartesianAxis.Z)     { ExpectedLabel = zLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(3, CartesianAxis.Roll)  { ExpectedLabel = aLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(4, CartesianAxis.Pitch) { ExpectedLabel = bLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(5, CartesianAxis.Yaw)   { ExpectedLabel = cLabel, Scaling = scaling, Offset = offset });
 
    // Create a Robot object with a multi axis containing all joints and the kinematic type
    robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, MotionController.AxisFrameBufferSizeDefault);
    HelperFunctions.CheckErrors(robot);
 
    //NOTE: to use the above kinematic model you must have a gantry (linear 1:1 kinematics) and each linear axis must have its user units scaled to millimeters
 
    //This will return none. A gcode unit hasn't been established to it will use path units. If path units are not set it will use user units.
    Console.WriteLine(robot.Gcode.UnitsGet()); 
 
    robot.Gcode.AccelerationRateSet(10); //Sets the G-Code acceleration to 10 Centimeters(USER UNITS) per MINUTE sqd
    robot.Gcode.FeedRateSet(10);     //Sets the G-Code velocity to 10 Centimeters(USER UNITS) per MINUTE
 
    robot.Gcode.UnitsSet(LinearUnits.Inches);//This is the same as executing the G-Code Line G20
    Console.WriteLine(robot.Gcode.UnitsGet());//This will return Inches as you just set. 
 
 
    robot.Gcode.AccelerationRateSet(10); //Sets the G-Code acceleration to 10 Inches per MINUTE sqd
    robot.Gcode.FeedRateSet(10);     //Sets the G-Code velocity to 10 Inches per MINUTE
 
    VerifyModel(robot.ModelGet(), modelName, units);
  }
}