camming.cs

/*  This sample demonstrates how to command nonlinear coordinated motion between two axes.
    The follower axis position is controlled as a function of the moving axis position.
    Moving Axis: may or may not be controlled by the motion controller.
    Follower Axis: controlled by the motion controller as a function of the moving axis.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Camming");
 
// set sample config params
const double MOVING_POSITION = 25;  // total distance to move on moving axis
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // get axes
    Axis movingAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(movingAxis);
 
    Axis followerAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(followerAxis);
 
    // configure phantom axes
    Helpers.PhantomAxisReset(movingAxis);
    Helpers.PhantomAxisReset(followerAxis);
 
    // enable phantoms to keep commanded position after motion done
    movingAxis.AmpEnableSet(true);
    followerAxis.AmpEnableSet(true);
 
    // cam profile - relative moving axis distances and absolute follower positions
    double[] movingAxisDistances = [4, 8, 12];      // relative distances on moving axis (x-axis) (4 + 8 + 12 = 24)
    double[] followerAxisPositions = [10, 20, 15];  // absolute positions for follower axis (y-axis)
 
    // command cam motion on follower before moving axis starts
    followerAxis.MoveCamLinear(
        masterAxisNumber:     movingAxis.NumberGet(),
        masterFeedbackSource: RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION,  // use COMMAND for phantoms, ACTUAL for real axis
        masterDistances:      movingAxisDistances,
        slavePositions:       followerAxisPositions,
        pointCount:           movingAxisDistances.Length);
 
    // command motion on moving axis
    movingAxis.MoveRelative(MOVING_POSITION);
 
    // wait for cam motion to complete   
    followerAxis.MotionDoneWait();
 
    // print results
    Console.WriteLine($"Moving axis final position: {movingAxis.CommandPositionGet()}");
    Console.WriteLine($"Follower final position: {followerAxis.CommandPositionGet()}");
 
    // cleanup
    Helpers.AbortMotionObject(followerAxis);
    Helpers.AbortMotionObject(movingAxis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}