SingleAxisSyncOutputs.cpp

 
#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;
}