SingleAxisSyncOutputs.cpp

Attention

See the following Concept pages for a detailed explanation of this sample: Streaming Motion Sync Outputs.

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.

 
#include "rsi.h"                // Import our RapidCode Library. 
#include "SampleAppsHelper.h"    // Import our SampleApp helper functions. 
#include "SampleApps.h"
 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace
 
int SingleAxisSyncOutputs::Run()
{
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
 
  // Axis configuration parameters
  const int AXIS_COUNT = 1;                       // Specify how many axes you have.
  const int AXIS_NUMBER = 0;                      // Specify which axis/motor to control.
 
  const double USER_UNITS = 1048576;                 // Specify your counts per unit / user units.   (the motor used in this sample app has 1048576 encoder pulses per revolution)       
 
  // IO configuration parameters
  const int NODE_INDEX = 0;                       // Specify which EtherCat Node will be used
  const int OUTPUT_INDEX = 0;
 
  const int OUTPUT_ENABLE_ID = 2;                         // The motion element ID at which to set the output
  const int OUTPUT_DISABLE_ID = 3;                        // The motion element ID at which to set the output
 
  // Motion parameters
  const int TOTAL_POINTS = 4;                     // total number of points
  const int EMPTY_CT = -1;                        // Number of points that remains in the buffer before an e-stop
  const double POSITIONS[] = { 0.25, 0.50, 0.75, 1.0 };    // These will be the streaming motion 5 positions.
  const double TIMES[] = { 0.5, 1.0, 1.5, 2.0 };        // These will be the streaming motion 5 positions' time. 
 
  // 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;
 
  // The rmpPath only needs to be set if the project directory is different than the rapid setup directory.
  // *NOTICE* When setting the rmpPath, be sure to uncomment the rmpPath arguement in MotionController::CreateFromSoftware() in the Run() function.
  char rmpPath[] = "C:\\RSI\\X.X.X\\";            // Insert the path location of the RMP.rta (usually the RapidSetup folder)
 
  // Initialize MotionController class.
  MotionController* controller = MotionController::CreateFromSoftware(/*rmpPath*/);   // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
  SampleAppsHelper::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    SampleAppsHelper::SetupControllerForPhantoms(controller, AXIS_COUNT, { AXIS_NUMBER });
  }
 
  try
  {
    Axis* axis = controller->AxisGet(AXIS_NUMBER);                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
    SampleAppsHelper::CheckErrors(axis);                      // [Helper Function] Check that the axis has been initialize correctly.
 
    axis->PositionSet(0);                                                   // Make sure motor starts at position 0 everytime.
    axis->UserUnitsSet(USER_UNITS);                                         // Change your user units.
    axis->ErrorLimitActionSet(RSIAction::RSIActionNONE);                    // Set Error Limit Action.
    axis->Abort();                                                          // If there is any motion happening, abort it.
    axis->ClearFaults();                                                    // Clear faults.>
    axis->AmpEnableSet(true);                                               // Enable the motor.
 
    // Set up the inputs
    // Ensure the digital out is set low.
    //IOPoint *output0 = IOPoint::CreateDigitalOutput(axis, RSIMotorGeneralIo.RSIMotorGeneralIo16);      // Retrieve DOUT 1, Method 1: requires you know the io adress in memory, slightly faster
    IOPoint* output0 = IOPoint::CreateDigitalOutput(controller->IOGet(NODE_INDEX), OUTPUT_INDEX);        // Retrieve DOUT 1  Method 2: only need to know node index
    output0->Set(false);
 
    // Set up Sync Outputs
    axis->StreamingOutputsEnableSet(true);                                                               // Enable streaming output.
 
    // ENABLE the Sync Output(s)
    axis->StreamingOutputAdd(output0, true, OUTPUT_ENABLE_ID);                                             // This will turn DOUT1 High when the streaming motion reaches its 3rd motion point.
    axis->StreamingOutputAdd(output0, false, OUTPUT_DISABLE_ID);                                           // This will turn DOUT1 Low when the streaming motion reaches its 4th motion point.
 
    // DISABLE the Sync Output(s)
    //axis->StreamingOutputAdd(output0, false, outPutEnableID);
 
    axis->MovePT(RSIMotionType::RSIMotionTypePT, POSITIONS, TIMES, TOTAL_POINTS, EMPTY_CT, false, true);  // Start Streaming Motion
    printf("Motion started. Waiting to complete.\n");
 
    axis->MotionDoneWait();                                                                              // What for Streaming Motion to be done.
    printf("Motion Complete. The outputs should have been set\n");
 
    axis->StreamingOutputsEnableSet(false);                                                              // Disable Sync Outputs.
    axis->AmpEnableSet(false);                                                                           // Disable the motor.
 
  }
  catch (RsiError const& err)
  {
    printf("%s\n", err.text);                                              // If there are any exceptions/issues this will be printed out.
    return -1;
  }
  controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
  return 0;
}