APIs, concepts, guides, and more
See the following Concept pages for a detailed explanation of this sample: Camming, Gearing.
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.

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 NUnit.Framework;
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
#if DOXYGEN // RSI internal documentation use only
class GearingCamming : SampleAppTestBase
[Test, Timeout(Constants.MAX_TEST_TIME)]
public void Camming()
//Create RapidCode Objects
Axis moving_axis = controller.AxisGet(Constants.MAIN_AXIS_NUMBER);
Axis follower_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
// Constants
const double MAIN_VELOCITY = 50; // Specify your Moving Axis's velocity. - units: Units/Sec (it will do 1 counts / (1/104857) of a revolution every 1 second.)
const double MAIN_ACCELERATION = 20; // Specify your Moving Axis's acceleration. - units: Units/Sec^2
// Commanded Positions
double[] movingAxisDistances = { 5, 10, 8 }; // This is the RELATIVE Moving Axis distance, every n revolutions it changes its Driven position. (This is the x-axis)
double[] followerAxisPositions = { 10, 20, 10 }; // This is the final ABSOLUTE Driven position, for every 5 revolutions one of this positions gets applied. (This is the y-axis)
// Command motion on the Driven before the Moving Axis starts
RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // Use COMMAND for phantoms and ACTUAL for real axis.
moving_axis.MoveVelocity(MAIN_VELOCITY, MAIN_ACCELERATION); // Command a constant velocity on the master axis, Driven will follow.
follower_axis.MotionDoneWait(); // Wait for the cam motion to complet
moving_axis.Stop(); // Stop the Moving Axis
Assert.That(follower_axis.CommandPositionGet(), Is.EqualTo(followerAxisPositions[followerAxisPositions.Length - 1]));
[Test, Timeout(Constants.MAX_TEST_TIME)]
public void Gearing()
//Create RapidCode Objects
Axis moving_axis = controller.AxisGet(Constants.MAIN_AXIS_NUMBER);
Axis follower_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
int numerator = 2; // Specify the numerator of the gearing ratio.
int denominator = 1; // Specify the denominator of the gearing ratio.
// Configure the 'follower' axis to be a follow to the 'moving' axis at a ratio of 2:1, that is,
// for every rotation of the Moving Axis axis, the Driven axis will rotate twice.
RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
// Perform a S-curve motion on the Moving Axis axis.
moving_axis.MotionDoneWait(); // Wait for motion to finish.
Assert.That(moving_axis.CommandPositionGet(), Is.EqualTo(Constants.POSITION), "The command position should be equal to POSITION");
Assert.That(follower_axis.CommandPositionGet(), Is.EqualTo(Constants.POSITION * (numerator / denominator)), "The command position should be equal to twice POSITION");
static void CheckErrors(RapidCodeObject rsiObject)
Check if the RapidCodeObject has any errors.
Helper Functions for checking logged creation errors, starting the network, etc.
double CommandPositionGet()
Get the current command position.
void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double *const masterDistances, const double *const slavePositions, int32_t pointCount)
Enable this Axis to be linear follower (slave) using an electronic cam.
void MoveVelocity(double velocity)
void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator)
Enable this Axis to be follower (slave) using electronic gearing.
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
Command a point-to-point S-Curve motion.
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5513
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
int32_t MotionDoneWait()
Waits for a move to complete.
int32_t NumberGet()
Get the axis number.
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1164