camming.cs

Note

See Motion: Camming 📜 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.

/*  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
}