compensator-1d.cs

/*  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
}