axis-motion.py

Note

See Axis: Basic Motion 📜 for a detailed explanation of this sample code.

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.

""" Sample application that demonstrates basic Axis motion.
"""
 
import sys
from _imports import RapidCode, helpers, time, config, constants
 
print("⬤ Axis Basic Motion")
 
exit_code = 0
 
# Motion Constants
DISTANCE = 2          # distance to move (in user units)
VELOCITY = 10         # velocity (in user units per second)
ACCELERATION = 5      # acceleration (in user units per second squared)
DECELERATION = 3      # deceleration (in user units per second squared)
JERK_PERCENTAGE = 50 # jerk percentage (0-100%)
 
# Axis Constants
AXIS_INDEX = 0
 
def print_status(axis: RapidCode.Axis):
    print(f"State: {helpers.enum_to_name(axis.StateGet(), 'RSIState')}, Position: {axis.CommandPositionGet():.5f}, Velocity: {axis.CommandVelocityGet():.5f}, Acceleration: {axis.CommandAccelGet():.5f}")
 
# get/create the motion controller
creation_params: RapidCode.CreationParameters = helpers.get_creation_parameters()
controller: RapidCode.MotionController = RapidCode.MotionController.Create(creation_params)
 
try:
    helpers.check_errors(controller)
 
    # type hints enable IDE autocomplete for RapidCode objects
    print(f"This object is a {type(controller)}")
 
    # Prepare the controller as defined in _config.py depending on the configuration
    config.setup_controller(controller, numAxes=AXIS_INDEX + 1)
 
    # get axis
    axis: RapidCode.Axis = controller.AxisGet(AXIS_INDEX)
    helpers.check_errors(axis)
 
    # ready axis for motion
    axis.ClearFaults()
    enable_ms = axis.AmpEnableSet(True, 750)
    print(f'Amplifier took {enable_ms}ms to enable')
    helpers.verify_idle_state(axis)
 
    print_status(axis)
 
    # execute a relative move (distance, velocity, accel, decel, jerk%)
    axis.MoveRelative(DISTANCE, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENTAGE)
 
    # monitor motion
    while not axis.MotionDoneGet():
        print_status(axis)
        time.sleep(0.1)
 
    print_status(axis)
 
    # clean up
    helpers.verify_idle_state(axis)
 
    exit_code = constants.EXIT_SUCCESS
except Exception as e:
    print(f"❌ Error: {e}")
    exit_code = constants.EXIT_FAILURE
finally:
    controller.Delete()
 
sys.exit(exit_code)