MultiAxisMotion.cs

Attention

See the following Concept pages for a detailed explanation of this sample: Multi-Axis Velocity, S-Curve 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.

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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;
 
#if DOXYGEN // RSI internal documentation use only
using RSI.RapidCode;
#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]
    }
  }