compensator-single-axis.cs

/*  This sample demonstrates how to configure a compensator that modifies the motion of itself.
    The axis command position is used as the input to apply compensation to the same axis,
    useful for correcting mechanical non-linearities or backlash.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Compensator: Single Axis");
 
// set sample config params
const int INDEX_ZERO = 0;
const int MIN = 10;
const int MAX = 110;
const int DELTA = 10;
const int POINTS = ((MAX - MIN) / DELTA) + 1;  // 11 points
 
// compensator table (values are in raw counts not user units)
//                       at position: 10 20  30  40  50 ...           ... 110
//                         adjust by: ↓  ↓   ↓   ↓   ↓  ...           ... ↓
double[] table = new double[POINTS] { 0, 2, -3, -5, -3, 2, -3, 0, 2, -3, -5 };
 
// print compensator info
Console.WriteLine($"Range: {MIN} to {MAX}, Delta: {DELTA}");
Console.WriteLine($"Points: {POINTS}");
Console.WriteLine("Compensator Table:");
for (int i = 0; i < POINTS; i++)
{
    int inputPos = MIN + (i * DELTA);
    Console.WriteLine($"@ Pos: {inputPos}, Compensate by: {table[i]}");
}
 
// 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(1);
    controller.CompensatorPointCountSet(INDEX_ZERO, table.Length);  // set number points allocated on the controller
 
    // get & configure axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
    axis.Abort();
    axis.ClearFaults();
    controller.SampleWait(10);
    axis.PositionSet(0);
 
    // verify the three values are equal before configuring compensator
    if (controller.CompensatorPointCountGet(INDEX_ZERO) == table.Length && POINTS == table.Length)
    {
        // configure compensator using AXIS_COMMAND_POSITION as input to modify same axis
        controller.CompensatorConfigSet(
            compensatorNumber: INDEX_ZERO,
            inputAxis:         axis,
            inputAxisType:     RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION,
            inputAxisMinimum:  MIN,
            inputAxisMaximum:  MAX,
            inputAxisDelta:    DELTA,
            outputAxis:        axis,
            outputType:        RSICompensatorOutputType.RSICompensatorOutputTypeSINGLE,
            table:             table);
 
        // command motion
        axis.AmpEnableSet(true);
        axis.MoveSCurve(position: MIN + DELTA);  // move to 2nd point
        axis.MotionDoneWait();
 
        // get results
        double compPos = axis.CompensationPositionGet();
 
        // print results
        Console.WriteLine($"Compensation position: {compPos} (expected: {table[1]})");
    
        // verify compensation
        if (compPos != table[1])
            throw new Exception("❌ Compensator compensation position does not match expected value.");
    }
}
// handle errors as needed
finally
{
    controller.CompensatorCountSet(0);  // restore
    controller.Delete();                // dispose
}