VelocitySetByAnalogInputValue.cs

 
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using System;
 
#if DOXYGEN // RSI internal documentation use only
using RSI.RapidCode;
#endif
 
class VelocitySetByAnalogInputValue
  {
    static void Main(string[] args)
    {
      // GLOBAL VARIABLES
      double analogMaxValue        = 65536; // The analog inputs used are 16 bit wide.
      double currentVelocity       = 0;     // Used to update velocity based on analog input value.
      double analogCurrentValue    = 0;     // Used to store current analog input value.
      double analogValuePrecentage = 0;     // analogCurrentValue/anlogMaxValue.
      double velocityAbsoluteSum   = 0;     // Absolute sum of min and max velocities.
 
      // CONSTANTS
      const int AXIS_NUMBER    = 0;         // Specify which axis/motor to control.
      const int NODE_NUMBER    = 0;         // Specify which IO Terminal/Node to control. 0 for RSI AKD DemoBench
      const int ANALOG_INPUT_0 = 0;         // Specify which Analog Input to read.
      const int MIN_VEL        = -10;       // Specify Min Velocity.
      const int MAX_VEL        = 10;        // Specify Max Velocity.
      const int ACC            = 100;       // Specify Acceleration/Deceleration value.
      const int USER_UNITS     = 1048576;   // Specify your counts per unit / user units.  (the motor used in this sample app has 1048576 encoder pulses per revolution)  
 
      // Initialize RapidCode Objects
      MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);  // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
      HelperFunctions.CheckErrors(controller);     // [Helper Function] Check that the controller has been initialized correctly.
      HelperFunctions.StartTheNetwork(controller); // [Helper Function] Initialize the network.
 
      Axis axis = controller.AxisGet(AXIS_NUMBER);      // Initialize the axis.
      HelperFunctions.CheckErrors(axis);   // [Helper Function] Check that the axis has been initialized correctly.
 
      IO ioNode = controller.IOGet(NODE_NUMBER);        // Initialize the axis.
      HelperFunctions.CheckErrors(ioNode); // [Helper Function] Check that the axis has been initialized correctly.
 
      try
      {
        // CONSOLE OUT
        Console.WriteLine("Velocity Move Initialized.");
        Console.WriteLine("Max Speed = " + MAX_VEL);
        Console.WriteLine("Min Speed = " + MIN_VEL);
        Console.WriteLine("\nPress SPACEBAR to exit.");
 
        // READY AXIS
        axis.UserUnitsSet(USER_UNITS);     // Specify the counts per Unit.
        axis.ErrorLimitTriggerValueSet(1); // Specify the position error limit trigger. (Learn more about this on our support page)
        axis.PositionSet(0);               // Make sure motor starts at position 0 everytime.
        axis.DefaultAccelerationSet(ACC);  // Set Acceleration.                                   
        axis.DefaultDecelerationSet(ACC);  // Set Deceleration.
        axis.Abort();                      // If there is any motion happening, abort it.
        axis.ClearFaults();                // Clear faults.
        axis.AmpEnableSet(true);           // Enable the motor.
 
        do
        {
          while (!Console.KeyAvailable)
          {
            velocityAbsoluteSum = Math.Abs(MIN_VEL) + Math.Abs(MAX_VEL);
            analogCurrentValue = (double)ioNode.AnalogInGet(ANALOG_INPUT_0); // Get analog in value.
            analogValuePrecentage = analogCurrentValue / analogMaxValue;     // Get percentage of analog voltage.
 
            /*
            *  REPRESENTATION OF ANALOG INPUT VALUE BASED ON DIGITAL OUTPUT VOLTAGE
            *
            *  AI Value     -->   0 ............ 32,769 ............ 65,536
            *  DO Voltage   -->   0 ........8 9 10   -10 -9 -8...... 0
            */
 
            if (analogValuePrecentage * 100 > 99 || analogValuePrecentage * 100 < 1)                  // If the Analog Input value is close to 0 or 65,536 then velocity is ZERO.
              currentVelocity = 0;
 
            else if (analogValuePrecentage * 100 < 50)                                                // If the Analog Input value is less than 50% of 65,536 then velocity varies from 0 to 10.
              currentVelocity = velocityAbsoluteSum * analogValuePrecentage;
 
            else                                                                                      // If the Analog Input value is greater than 50% of 65,536 then velocity varies from 0 to -10.
              currentVelocity = -velocityAbsoluteSum + (velocityAbsoluteSum * analogValuePrecentage);
 
            axis.MoveVelocity(currentVelocity);                                                       // Update Velocity.
 
          }
        } while (Console.ReadKey(true).Key != ConsoleKey.Spacebar);                                   // If the Spacebar key is pressed, exit.
 
        axis.Abort();                                                                                 // Abort Motion.
      }
      catch (Exception e)
      {
        Console.WriteLine(e.Message); // If there are any exceptions/issues this will be printed out.
      }
    }
  }