CompensatorPointCountSet()

void CompensatorPointCountSet	(	int32_t	compensatorNumber,
		int32_t	pointCount )

Parameters

compensatorNumber	which compensator to configure?
pointCount	the number of points which will be stored in the table

Description:

CompensatorPointCountSet sets the number of Compensator points allocated on the controller. This must be configured before creating Axis or MultiAxis objects, as these counts change the dynamic memory allocation inside the controller's firmware.

Part of the Compensator method group.

Sample Code:

Motion: 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");
 
int exitCode = 0;
 
// 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);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller, minRequiredSampleAxisCount: 2);
 
    // 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(axisNumber: Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(movingAxis);
    Helpers.PhantomAxisReset(movingAxis);
    
    Axis followerAxis = controller.AxisGet(axisNumber: Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(followerAxis);
    Helpers.PhantomAxisReset(followerAxis);
 
    // 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.");
 
        // cleanup
        Helpers.AbortMotionObject(followerAxis);
        Helpers.AbortMotionObject(movingAxis);
    }
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.CompensatorCountSet(0);  // restore
    controller.Delete();                // dispose
}
 
return exitCode;

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

CompensatorCountSet