GearingCamming.cs

 
using NUnit.Framework;
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
 
#if DOXYGEN // RSI internal documentation use only
using RSI.RapidCode;
#endif
 
[TestFixture]
[Category("Software")]
class GearingCamming : SampleAppTestBase
  {
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void Camming()
    {
      //Create RapidCode Objects
      Axis moving_axis = controller.AxisGet(Constants.MAIN_AXIS_NUMBER);
      HelperFunctions.CheckErrors(moving_axis);
      Axis follower_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
      HelperFunctions.CheckErrors(follower_axis);
 
      // 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
      follower_axis.MoveCamLinear(moving_axis.NumberGet(),
                                  RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // Use COMMAND for phantoms and ACTUAL for real axis.
                                  movingAxisDistances,
                                  followerAxisPositions,
                                  movingAxisDistances.Length);
 
      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);
      HelperFunctions.CheckErrors(moving_axis);
      Axis follower_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
      HelperFunctions.CheckErrors(follower_axis);
 
      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.
      follower_axis.GearingEnable(moving_axis,
                                  RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
                                  numerator,
                                  denominator);
 
      // Perform a S-curve motion on the Moving Axis axis.
      moving_axis.MoveSCurve(Constants.POSITION,
                             Constants.VELOCITY,
                             Constants.ACCELERATION,
                             Constants.DECELERATION,
                             Constants.JERK_PERCENT);
 
      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");
    }
  }