MotionCountSet()

void MotionCountSet

(

int32_t

motionCount

)

Description:

MotionCountSet will configure the number of Motion Supervisors processed by the controller firmware .

Parameters

motionCount

The Motion Supervisor count.

Part of the Information method group.

Sample Code:

Motion: Multi-Axis

      // Constants
      const int NUM_OF_AXES = 2; // Specify the number of axes (Make sure your axis count in RapidSetup is 2!)
 
      // Parameters
      double[] positions1    = new double[NUM_OF_AXES] { 5, 10 };       // The first set of positions to be moved to
      double[] positions2    = new double[NUM_OF_AXES] { 15, 15 };      // The second set of positions to be moved to
      double[] velocities1   = new double[NUM_OF_AXES] { 1000, 1000 };  // The velocity for the two axes for the first move- Units: units/sec (driver will execute 10 rotations per second)
      double[] velocities2   = new double[NUM_OF_AXES] { 1000, 1000 };  // The velocity for the two axes for the second move
      double[] accelerations = new double[NUM_OF_AXES] { 500, 500 };    // The acceleration for the two axes
      double[] decelerations = new double[NUM_OF_AXES] { 500, 500 };    // The deceleration for the two axes
      double[] jerkPercent   = new double[NUM_OF_AXES] { 50, 50 };      // The jerk percent for the two axes
 
      controller.AxisCountSet(NUM_OF_AXES);
      controller.MotionCountSet(NUM_OF_AXES + 1);
 
      Axis axis0 = controller.AxisGet(Constants.X_AXIS_NUMBER);         // Initialize axis0
      Axis axis1 = controller.AxisGet(Constants.Y_AXIS_NUMBER);         // Initialize axis1
 
      HelperFunctions.CheckErrors(axis0);                  // [Helper Function] Check that 'axis0' has been initialized correctly
      HelperFunctions.CheckErrors(axis1);                  // [Helper Function] Check that 'axis1' has been initialized correctly
 
      // In this application, we have two Axis objects and one MultiAxis object, so three motion supervisors are required
      MultiAxis multi = controller.MultiAxisGet(NUM_OF_AXES);           // Initialize a new MultiAxis object. MultiAxisGet takes a motion supervisor number as its argument.
                                                                        // This number is equal to the number of axes since motion supervisors are zero indexed (i.e., motion supervisors
                                                                        // 0 and 1 are used for axis0 and axis1, so motion supervisor 2 is available for our MultiAxis object).
 
      HelperFunctions.CheckErrors(multi);                  // [Helper Function] Check that 'multi' has been initialized correctly
      controller.AxisCountSet(NUM_OF_AXES);                             // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.
 
      multi.AxisRemoveAll();                                            // Remove all current axis if any. So we can add new ones
 
      multi.AxisAdd(axis0);                                             // Add axis0 to the MultiAxis object
      multi.AxisAdd(axis1);                                             // Add axis1 to the MultiAxis object
 
      multi.Abort();                                                    // If there is any motion happening, abort it
      multi.ClearFaults();                                              // Clear any faults
      multi.AmpEnableSet(true);                                         // Enable the motor
 
      axis0.ErrorLimitActionSet(RSIAction.RSIActionNONE);               // Disable poistion error for Phantom Axes.
      axis1.ErrorLimitActionSet(RSIAction.RSIActionNONE);               // Disable poistion error for Phantom Axes.
 
      multi.MoveSCurve(positions1, velocities1, accelerations, decelerations, jerkPercent); // Move to the positions specified in positions1 using a trapezoidal motion profile
      multi.MotionDoneWait();                                                               // Wait for motion to finish
 
    Assert.That(axis0.CommandPositionGet(), Is.EqualTo(positions1[0]), "The first axis in the multi axis object should be commanded to move to the firt element of the array");
    Assert.That(axis1.CommandPositionGet(), Is.EqualTo(positions1[1]), "The second axis in the multi axis object should be commanded to move to the second element of the array");
 
      multi.MoveTrapezoidal(positions2, velocities2, accelerations, decelerations);         // Move to the positions specified in positions2 using a SCurve motion profile
      multi.MotionDoneWait();                                                               // Wait for the motion to finish
 
    Assert.That(axis0.CommandPositionGet(), Is.EqualTo(positions2[0]), "The first axis in the multi axis object should be commanded to move to the firt element of the array");
    Assert.That(axis1.CommandPositionGet(), Is.EqualTo(positions2[1]), "The second axis in the multi axis object should be commanded to move to the second element of the array");
 
      multi.AmpEnableSet(false);                                                            // Disable the axes
 

Warning

Important usage instructions for all RapidCode object count set methods:
This should be done after successful MotionController::Create but before any RapidCode object creation, (MotionController::AxisGet, MotionController::MultiAxisGet, etc.) as changing object counts will reconfigure the RMP's dynamic memory allocation which invalidates all preexisting RapidCode objects.

See also

AxisCountSet, MotionCountSet, RecorderCountSet, UserLimitCountSet, MathBlockCountSet, CompensatorCountSet

MotionCountGet

Examples

DifferenceOfPositionUserLimit.cpp, HelperFunctions.cs, MathBlock.cs, MultiAxisMotion.cs, MultiaxisMotion.cpp, PVTmotionMultiAxis.cpp, PathMotion.cpp, SampleAppsHelper.h, SyncOutputWithMotion.cpp, Template.cpp, and UpdateBufferPoints.cpp.