MultiAxisGet()

MultiAxis * MultiAxisGet

(

int32_t

motionSupervisorNumber

)

Description:

MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.

Parameters

motionSupervisorNumber

A motion supervisor index, should be >= AxisCount.

Returns

(MultiAxis*) A pointer to the MultiAxis specified.

Sample Code:

Motion: Multi-Axis

/*  This sample demonstrates both trapezoidal and S-curve point-to-point motion profiles for multi-axis motion.
    The MultiAxis object coordinates the motion of multiple axes simultaneously.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 MultiAxis Motion: Point to Point");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // set the motion count to AxisCount + 1, every multiaxis needs a motion supervisor
    var axisCount = controller.AxisCountGet();
    controller.MotionCountSet(axisCount + 1);
 
    // get axes
    Axis axis0 = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis0);
    Axis axis1 = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(axis1);
 
    // get multiaxis (motion supervisor number is equal to number of axes because indexing starts at 0)
    MultiAxis multi = controller.MultiAxisGet(axisCount);
    Helpers.CheckErrors(multi);
 
    // remove any existing axes
    multi.AxisRemoveAll();
 
    // add axes to multiaxis
    multi.AxisAdd(axis0);
    multi.AxisAdd(axis1);
 
    // prepare for motion
    multi.Abort();  // stop any existing motion
    multi.ClearFaults();
    multi.AmpEnableSet(true);
 
    // disable position error for phantom axes
    axis0.ErrorLimitActionSet(RSIAction.RSIActionNONE);
    axis1.ErrorLimitActionSet(RSIAction.RSIActionNONE);
 
    // define motion parameters
    double[] positions1    = [ 5, 10 ];       // first set of positions
    double[] positions2    = [ 15, 15 ];      // second set of positions
    double[] velocities1   = [ 1000, 1000 ];  // velocities for first move
    double[] velocities2   = [ 1000, 1000 ];  // velocities for second move
    double[] accelerations = [ 500, 500 ];    // accelerations for both axes
    double[] decelerations = [ 500, 500 ];    // decelerations for both axes
    double[] jerkPercent   = [ 50, 50 ];      // jerk percent for s-curve motion
 
    // move using s-curve motion profile
    Console.WriteLine($"\nMove 1 (S-Curve): Positions = [{positions1[0]}, {positions1[1]}]");
    multi.MoveSCurve(positions1, velocities1, accelerations, decelerations, jerkPercent);
    multi.MotionDoneWait();  // wait for motion to complete
 
    Console.WriteLine($"Axis 0 CommandPosition: {axis0.CommandPositionGet()} (expected: {positions1[0]})");
    Console.WriteLine($"Axis 1 CommandPosition: {axis1.CommandPositionGet()} (expected: {positions1[1]})");
 
    // move using trapezoidal motion profile
    Console.WriteLine($"\nMove 2 (Trapezoidal): Positions = [{positions2[0]}, {positions2[1]}]");
    multi.MoveTrapezoidal(positions2, velocities2, accelerations, decelerations);
    multi.MotionDoneWait();  // wait for motion to complete
 
    Console.WriteLine($"Axis 0 CommandPosition: {axis0.CommandPositionGet()} (expected: {positions2[0]})");
    Console.WriteLine($"Axis 1 CommandPosition: {axis1.CommandPositionGet()} (expected: {positions2[1]})");
 
    // cleanup
    Helpers.AbortMotionObject(multi);
    controller.MotionCountSet(axisCount);  // remove multiaxis
 
    Console.WriteLine("\nMulti-axis point-to-point motion complete.");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}

Note

You'll need to set the number of MotionSupervisors to a number greater than the Axis count. This should be done before any calls to AxisGet or MultiAxisGet.

Creation Methods Info

Part of the Create and Initialize RapidCode Objects method group.

🔔 Important Usage Instructions

All creation methods, such as Create(), AxisGet(), NetworkNodeGet(), etc. Each return valid pointers to RapidCode objects. These pointers are never null, even when there is an error during object creation.

🔔 API Differences (C# vs. C++)

In the C# API, the pointers are replaced by references due to differences between C++ and C#. The creation methods return a reference to the object instead of a pointer. However, the method calls and error handling procedures remain the same. Null references are not returned by the creation methods in C#. Always check for errors after object creation, as described above.

⚙️ Error Checking After Creation

Immediately after the creation of a RapidCode object, you need to check if there were any errors during its creation. You do this by calling the ErrorLogCountGet() method on the created object. If ErrorLogCountGet() returns a value greater than zero, it means there were errors during the object creation.

⚙️ Handling Errors

To handle the errors, you call the ErrorLogGet() method once for each error on the created object to retrieve an RsiError object. You can then inspect the RsiError object to understand more about the error.

⚙️ Helper Functions

RapidCode also provides helper functions in both C++ and C#, like HelperFunctions::CheckErrors(), that work with all RapidCode objects. These helper functions operate on RapidCodeObject, hence they are compatible with all RapidCode objects. For example:

⚙️ Object Cleanup

Any and all objects created by RapidCode creation methods will be cleaned up by calling MotionController::Delete(). This should be done when your application is finished using RapidCode objects.

See also

ErrorLogCountGet, ErrorLogGet, Delete, HelperFunctions.CheckErrors

MultiAxis::AxisAdd , MotionCountGet , MotionCountSet