CompensatorConfigSet() [4/4]

void CompensatorConfigSet	(	int32_t	compensatorNumber,
		int32_t	inputAxisNumber,
		RSIAxisMasterType	inputAxisType,
		double	inputAxisMinimum,
		double	inputAxisMaximum,
		double	inputAxisDelta,
		int32_t	outputAxisNumber,
		RSICompensatorOutputType	outputType,
		const double *const	table )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

compensatorNumber	which compensator to configure?
inputAxisType	Feedback or position to follow
inputAxisNumber	This specifies the axis of the first compensating Axis object. The position from this Axis will be used to index a single dimension of the compensation table. This number must correspond to a valid (existing) and enabled Axis on the controller.
inputAxisMinimum	The minimum feedback position (COUNTS) along the first compensation axis where compensation will occur.
inputAxisMaximum	The maximum feedback position (COUNTS) along the first compensation axis where compensation will occur.
inputAxisDelta	Spacing between compensation positions on the compensating axis. positionDelta must meet some specifications: positionDelta must be an exact multiple of the range (i.e. ((range.positionMax - range.positionMin) / positionDelta) must be an integer value). positionDelta must be greater than zero. positionDelta must be greater than (positionMax - positionMin).
outputAxisNumber	This specifies the axis of the Axis to be compensated by the Compensator object. This number must correspond to a valid (existing) and enabled Axis on the controller.
outputType	Sets the behavior of a compensator. SINGLE: Only the most recent compensator configured to output on a specific axes will be applied ADDITIVE: The output of the compensator will be added with the result form the previously applied compensator on the specific axis.
table	the points which will be written to the table

Part of the Compensator method group.

Sample Code:

Compensator

/*  This sample demonstrates how to configure and use a 1-dimensional compensator.
    Two overlapping compensation tables are applied to modify the follower axis motion
    based on the moving axis position.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Compensator: 1D");
 
// set sample config params
const int INDEX_ZERO = 0;
const int INDEX_ONE = 1;
const int MIN = 0;                             // smallest value in counts on input axis where table is applied
const int MAX = 100;                           // largest value in counts on input axis where table is applied
const int DELTA = 10;                          // number of encoder counts on input axis between values in table
const int POINTS = ((MAX - MIN) / DELTA) + 1;  // 11 points
 
// compensator tables (values are in raw counts not user units)
double[] table0 = new double[POINTS] { 0, 1000, -5000, -10000, 10000, 5000, -5000, 2500, 0, 2500, 5000 };
double[] table1 = new double[POINTS] { 0, 500, 0, 0, 0, 0, 0, 0, 0, 0, 1000 };
 
// print compensator info
Console.WriteLine($"Range: {MIN} to {MAX}, Delta: {DELTA}");
Console.WriteLine($"Points: {POINTS}");
 
// get rmp controller
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // set compensator count before any RapidCodeObject get/create other than the controller
    controller.CompensatorCountSet(2);
 
    // reserve space in memory for the compensator tables
    controller.CompensatorPointCountSet(INDEX_ZERO, table0.Length);
    controller.CompensatorPointCountSet(INDEX_ONE, table1.Length);
 
    // get & configure axes
    Axis movingAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(movingAxis);
    movingAxis.Abort();
    movingAxis.ClearFaults();
    controller.SampleWait(10);
    movingAxis.PositionSet(0);
    
    Axis followerAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(followerAxis);
    followerAxis.Abort();
    followerAxis.ClearFaults();
    controller.SampleWait(10);
    followerAxis.PositionSet(0);
 
    // Verify the three following values are equal before configuring compensator
    if (controller.CompensatorPointCountGet(INDEX_ZERO) == table0.Length && POINTS == table0.Length)
    {
        // set compensator0
        controller.CompensatorConfigSet(
            compensatorNumber: INDEX_ZERO,
            inputAxis:         movingAxis,
            inputAxisType:     RSIAxisMasterType.RSIAxisMasterTypeAXIS_ACTUAL_POSITION,
            inputAxisMinimum:  MIN,
            inputAxisMaximum:  MAX,
            inputAxisDelta:    DELTA,
            outputAxis:        followerAxis,
            outputType:        RSICompensatorOutputType.RSICompensatorOutputTypeSINGLE,
            table:             table0);
 
        // set compensator1
        // configure multiple overlapping compensation tables
        // note: first compensator remains in SINGLE mode, second is set to ADDITIVE
        controller.CompensatorConfigSet(
            compensatorNumber: INDEX_ONE,
            inputAxis:         movingAxis,
            inputAxisType:     RSIAxisMasterType.RSIAxisMasterTypeAXIS_ACTUAL_POSITION,
            inputAxisMinimum:  MIN,
            inputAxisMaximum:  MAX,
            inputAxisDelta:    DELTA,
            outputAxis:        followerAxis,
            outputType:        RSICompensatorOutputType.RSICompensatorOutputTypeADDITIVE,
            table:             table1);
 
        // move one index into the compensation table to test
        movingAxis.PositionSet(DELTA);
 
        // get results
        double compPos = followerAxis.CompensationPositionGet(); 
 
        // print results
        Console.WriteLine($"Compensation position: {compPos} (expected: {table0[1] + table1[1]})");
    
        // verify compensation
        if (compPos != table0[1] + table1[1])
            throw new Exception("❌ Compensator compensation position does not match expected value.");
    }
}
// handle errors as needed
finally
{
    controller.CompensatorCountSet(0);  // restore
    controller.Delete();                // dispose
}

See also

CompensatorCountSet