MultiaxisMotion.cpp

Attention

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

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.

 
#include "rsi.h"                // Import our RapidCode Library. 
#include "SampleAppsHelper.h"    // Import our SampleApp helper functions. 
#include <conio.h>
#include "SampleApps.h"
 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace
 
/*This function will print all the results to the screen*/
void PrintResult(Axis* axisX, Axis* axisY)
{
  printf("Motion Done \n AxisX position->  Commanded: %f  \tActual: %f\n",
    axisX->CommandPositionGet(),
    axisX->ActualPositionGet());
 
  printf(" AxisY position->  Commanded: %f  \tActual: %f\n",
    axisY->CommandPositionGet(),
    axisY->ActualPositionGet());
}

int MultiaxisMotion::Run()
{
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
 
  // Axis configuration parameters
  const int AXIS_COUNT = 2;
  const int AXIS_X = 0;
  const int AXIS_Y = 1;
 
  const int MOTION_COUNT = 1;
 
  const double USER_UNITS = 1048576;
 
  // Motion parameters
  const double START_POSITION[AXIS_COUNT] = { 0, 0 };
  const double END_POSITION[AXIS_COUNT] = { 1, 2 };
  const double VELOCITY[AXIS_COUNT] = { 1, 2 };
  const double ACCELERATION[AXIS_COUNT] = { 10, 20 };
  const double DECELERATION[AXIS_COUNT] = { 10, 20 };
  const double JERK_PERCENTAGE[AXIS_COUNT] = { 0, 0 };
 
  // To run with hardware, set the USE_HARDWARE flag to true AFTER you have configured the parameters above and taken proper safety precautions.
  USE_HARDWARE = false;
 
  /* SAMPLE APP BODY */
 
  // Create and initialize RsiController class 
  MotionController* controller = MotionController::CreateFromSoftware();
  SampleAppsHelper::CheckErrors(controller);
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    SampleAppsHelper::SetupControllerForPhantoms(controller, AXIS_COUNT, { AXIS_X, AXIS_Y });
  }
 
  try
  {
    // enable one MotionSupervisor for the MultiAxis
    controller->MotionCountSet(controller->AxisCountGet() + 1);
 
    // Get Axis X and Y respectively.
    Axis* axisX = controller->AxisGet(AXIS_X);
    SampleAppsHelper::CheckErrors(axisX);
    axisX->UserUnitsSet(USER_UNITS);
    axisX->PositionSet(0);
    axisX->ErrorLimitActionSet(RSIAction::RSIActionNONE);
 
    Axis* axisY = controller->AxisGet(AXIS_Y);
    SampleAppsHelper::CheckErrors(axisY);
    axisY->UserUnitsSet(USER_UNITS);
    axisY->PositionSet(0);
    axisY->ErrorLimitActionSet(RSIAction::RSIActionNONE);
 
    // Initialize a MultiAxis, using the last MotionSupervisor.
    MultiAxis* multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
    SampleAppsHelper::CheckErrors(multiAxisXY);
    multiAxisXY->AxisAdd(axisX);
    multiAxisXY->AxisAdd(axisY);
 
    // make sure all axes are enabled and ready
    multiAxisXY->Abort();
    multiAxisXY->ClearFaults();
    multiAxisXY->AmpEnableSet(true);
 
    // Set SYNC_START motion attribute mask.
    multiAxisXY->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskSYNC_START);
    printf("\nMotionStart...");
 
    // Commanding motion using Syncpptart to start motion for both the axis at the same time.
    multiAxisXY->MoveSCurve(END_POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENTAGE);
    multiAxisXY->MotionDoneWait();
 
    // Calling function created on top.
    PrintResult(axisX, axisY);
 
    // Set SYNC_END motion attribute mask
    multiAxisXY->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskSYNC_END);
    printf("\nMotionStart...");
 
    // Commanding motion using SyncEnd to end motion for both the axis at the same time.
    multiAxisXY->MoveSCurve(START_POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENTAGE);
    multiAxisXY->MotionDoneWait();
 
    // Calling function created on top
    PrintResult(axisX, axisY);
 
    printf("\nTrapezoidal Motion Done\n");
 
    // Disable the all the axes
    multiAxisXY->AmpEnableSet(false);
  }
  catch (RsiError const& err)
  {
    printf("\n%s\n", err.text);
    return -1;
  }
  controller->Delete();
  return 0;
}