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MultiAxisMotion.cs
Attention
See the following Concept pages for a detailed explanation of this sample: Multi-Axis Velocity, SCurve Motion.
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.

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;
#if DOXYGEN // RSI internal documentation use only
#endif
[TestFixture]
[Category("Software")]
class MultiAxisMotion : StaticMemoryTestBase
{
[Test]
public void MultiAxisVelocityMotion()
{
// RapidCode Objects
MultiAxis multi; // Declare what multi is.
// Constants
const int cycles = 2; // Specify how many times you want to update the velocity.
const int NUM_OF_AXES = 6;
controller.AxisCountSet(NUM_OF_AXES);
controller.MotionCountSet(NUM_OF_AXES + 1); // We will need a motion supervisor for every Axis object and MultiAxis object
int i;
double[] accelerations = new double[6] { 1000, 1000, 1000, 1000, 1000, 1000 }; // Specify the acceleration for all 6 axes.
double[] velocities = new double[6]; // Initialize the array that will contain the velocities of all 6 axes.
Random rnd = new Random(); // Initialize the Random object that we will use to generate random velocities.
Axis x_axis = controller.AxisGet(Constants.X_AXIS_NUMBER); // Initialize axis. (You can use RapidSetup to see what axes you are using.)
Axis y_axis = controller.AxisGet(Constants.Y_AXIS_NUMBER); // Initialize axis.
Axis z_axis = controller.AxisGet(Constants.Z_AXIS_NUMBER); // Initialize axis.
Axis a_axis = controller.AxisGet(Constants.A_AXIS_NUMBER); // Initialize axis.
Axis b_axis = controller.AxisGet(Constants.B_AXIS_NUMBER); // Initialize axis.
Axis c_axis = controller.AxisGet(Constants.C_AXIS_NUMBER); // Initialize axis.
HelperFunctions.CheckErrors(x_axis); // Check that the axis has been initialize correctly.
HelperFunctions.CheckErrors(y_axis); // Check that the axis has been initialize correctly.
HelperFunctions.CheckErrors(z_axis); // Check that the axis has been initialize correctly.
HelperFunctions.CheckErrors(a_axis); // Check that the axis has been initialize correctly.
HelperFunctions.CheckErrors(b_axis); // Check that the axis has been initialize correctly.
HelperFunctions.CheckErrors(c_axis); // Check that the axis has been initialize correctly.
multi = controller.MultiAxisGet(NUM_OF_AXES); // Configure your MultiAxis on RapidSetup (Make sure MotionCount is 1 higher than AxisCount)
HelperFunctions.CheckErrors(multi); // Check that multi has been initialized correctly.
multi.AxisRemoveAll(); // If there are any current axes on multi, remove them.
multi.AxisAdd(x_axis); // Add axis to your Multi-Axis controller.
multi.AxisAdd(y_axis); // Add axis to your Multi-Axis controller.
multi.AxisAdd(z_axis); // Add axis to your Multi-Axis controller.
multi.AxisAdd(a_axis); // Add axis to your Multi-Axis controller.
multi.AxisAdd(b_axis); // Add axis to your Multi-Axis controller.
multi.AxisAdd(c_axis); // Add axis to your Multi-Axis controller.
multi.Abort(); // If there is any motion happening, abort it.
multi.ClearFaults(); // Clear faults and enable all axes.
multi.AmpEnableSet(true); // Enable the motor.
for (i = 0; i < cycles; i++) // This loop will iterate 5 times based on the value of "cycles"
{
int random_vel1 = rnd.Next(1, 100); // random_vel1 is a number [ >= 1 and < 100 ]
int random_vel2 = rnd.Next(1, 100);
int random_vel3 = rnd.Next(1, 100);
int random_vel4 = rnd.Next(1, 100);
int random_vel5 = rnd.Next(1, 100);
int random_vel6 = rnd.Next(1, 100);
velocities = new double[6] {random_vel1, // Update axis's velocity.
random_vel2, // Update axis's velocity.
random_vel3, // Update axis's velocity.
random_vel4, // Update axis's velocity.
random_vel5, // Update axis's velocity.
random_vel6 }; // Update axis's velocity.
multi.MoveVelocity(velocities, accelerations); // Move your Multi-Axis. (this will also update the move on the fly)
System.Threading.Thread.Sleep(100); // Sleep for 100ms before iterating again.
}
multi.Abort(); // Stop motion on all axes.
}
[Test]
public void PointToPointMultiAxisMotion()
{
// Constants
const int NUM_OF_AXES = 2; // Specify the number of axes (Make sure your axis count in RapidSetup is 2!)
// Parameters
double[] positions1 = new double[NUM_OF_AXES] { 5, 10 }; // The first set of positions to be moved to
double[] positions2 = new double[NUM_OF_AXES] { 15, 15 }; // The second set of positions to be moved to
double[] velocities1 = new double[NUM_OF_AXES] { 1000, 1000 }; // The velocity for the two axes for the first move- Units: units/sec (driver will execute 10 rotations per second)
double[] velocities2 = new double[NUM_OF_AXES] { 1000, 1000 }; // The velocity for the two axes for the second move
double[] accelerations = new double[NUM_OF_AXES] { 500, 500 }; // The acceleration for the two axes
double[] decelerations = new double[NUM_OF_AXES] { 500, 500 }; // The deceleration for the two axes
double[] jerkPercent = new double[NUM_OF_AXES] { 50, 50 }; // The jerk percent for the two axes
controller.AxisCountSet(NUM_OF_AXES);
controller.MotionCountSet(NUM_OF_AXES + 1);
Axis axis0 = controller.AxisGet(Constants.X_AXIS_NUMBER); // Initialize axis0
Axis axis1 = controller.AxisGet(Constants.Y_AXIS_NUMBER); // Initialize axis1
HelperFunctions.CheckErrors(axis0); // [Helper Function] Check that 'axis0' has been initialized correctly
HelperFunctions.CheckErrors(axis1); // [Helper Function] Check that 'axis1' has been initialized correctly
// In this application, we have two Axis objects and one MultiAxis object, so three motion supervisors are required
MultiAxis multi = controller.MultiAxisGet(NUM_OF_AXES); // Initialize a new MultiAxis object. MultiAxisGet takes a motion supervisor number as its argument.
// This number is equal to the number of axes since motion supervisors are zero indexed (i.e., motion supervisors
// 0 and 1 are used for axis0 and axis1, so motion supervisor 2 is available for our MultiAxis object).
HelperFunctions.CheckErrors(multi); // [Helper Function] Check that 'multi' has been initialized correctly
controller.AxisCountSet(NUM_OF_AXES); // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.
multi.AxisRemoveAll(); // Remove all current axis if any. So we can add new ones
multi.AxisAdd(axis0); // Add axis0 to the MultiAxis object
multi.AxisAdd(axis1); // Add axis1 to the MultiAxis object
multi.Abort(); // If there is any motion happening, abort it
multi.ClearFaults(); // Clear any faults
multi.AmpEnableSet(true); // Enable the motor
axis0.ErrorLimitActionSet(RSIAction.RSIActionNONE); // Disable poistion error for Phantom Axes.
axis1.ErrorLimitActionSet(RSIAction.RSIActionNONE); // Disable poistion error for Phantom Axes.
multi.MoveSCurve(positions1, velocities1, accelerations, decelerations, jerkPercent); // Move to the positions specified in positions1 using a trapezoidal motion profile
multi.MotionDoneWait(); // Wait for motion to finish
Assert.That(axis0.CommandPositionGet(), Is.EqualTo(positions1[0]), "The first axis in the multi axis object should be commanded to move to the firt element of the array");
Assert.That(axis1.CommandPositionGet(), Is.EqualTo(positions1[1]), "The second axis in the multi axis object should be commanded to move to the second element of the array");
multi.MoveTrapezoidal(positions2, velocities2, accelerations, decelerations); // Move to the positions specified in positions2 using a SCurve motion profile
multi.MotionDoneWait(); // Wait for the motion to finish
Assert.That(axis0.CommandPositionGet(), Is.EqualTo(positions2[0]), "The first axis in the multi axis object should be commanded to move to the firt element of the array");
Assert.That(axis1.CommandPositionGet(), Is.EqualTo(positions2[1]), "The second axis in the multi axis object should be commanded to move to the second element of the array");
multi.AmpEnableSet(false); // Disable the axes
// /@[PointToPointMultiAxisMotion]
}
}
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 ErrorLimitActionSet(RSIAction action)
Set the action that will occur when the Error Limit Event triggers.
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.
void MotionCountSet(int32_t motionCount)
Set the number of processed Motion Supervisors in the controller.
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
void AxisCountSet(int32_t axisCount)
Set the number of allocated and processed axes in the controller.
void MoveTrapezoidal(const double *const position, const double *const vel, const double *const accel, const double *const decel)
Point-to-point trapezoidal move.
void AxisRemoveAll()
Remove all axes from a MultiAxis group.s.
void MoveSCurve(const double *const position, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
Point-to-point S-Curve Move.
void MoveVelocity(const double *const velocity, const double *const accel)
Velocity move.
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
Represents multiple axes of motion control, allows you to map two or more Axis objects together for e...
Definition rsi.h:10208
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
void AmpEnableSet(bool enable)
Enable all amplifiers.
void Abort()
Abort an axis.
int32_t MotionDoneWait()
Waits for a move to complete.
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1061