gcode-units.cs

/*  This sample demonstrates how changing linear units affects G-Code velocity and acceleration setters.
    Shows how to work with different unit systems in G-Code and understand the impact on motion parameters.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Motion: G-Code Units");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // set robot axis labels
    const string xLabel = "X-Axis";
    const string yLabel = "Y-Axis";
    const string zLabel = "Z-Axis";
    const string aLabel = "A-Axis";
    const string bLabel = "B-Axis";
    const string cLabel = "C-Axis";
 
    // get the 6 axis needed for XYZABC robot
    Axis xAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(xAxis);
    Axis yAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(yAxis);
    Axis zAxis = controller.AxisGet(Constants.AXIS_2_INDEX);
    Helpers.CheckErrors(zAxis);
    Axis aAxis = controller.AxisGet(Constants.AXIS_3_INDEX); 
    Helpers.CheckErrors(aAxis);
    Axis bAxis = controller.AxisGet(Constants.AXIS_4_INDEX);
    Helpers.CheckErrors(bAxis);
    Axis cAxis = controller.AxisGet(Constants.AXIS_5_INDEX);
    Helpers.CheckErrors(cAxis);
 
    // configure phantom axes
    Helpers.ConfigurePhantomAxis(xAxis);
    Helpers.ConfigurePhantomAxis(yAxis);
    Helpers.ConfigurePhantomAxis(zAxis);
    Helpers.ConfigurePhantomAxis(aAxis);
    Helpers.ConfigurePhantomAxis(bAxis);
    Helpers.ConfigurePhantomAxis(cAxis);
 
    // set axis labels
    xAxis.UserLabelSet(xLabel);
    yAxis.UserLabelSet(yLabel);
    zAxis.UserLabelSet(zLabel);
    aAxis.UserLabelSet(aLabel);
    bAxis.UserLabelSet(bLabel);
    cAxis.UserLabelSet(cLabel);
 
    // create multi-axis object for joints
    MultiAxis jointsMultiAxis = controller.MultiAxisGet(0);
    Axis[] axes = [xAxis, yAxis, zAxis, aAxis, bAxis, cAxis];
    jointsMultiAxis.AxesAdd(axes, axes.Length);
    jointsMultiAxis.ClearFaults();
 
    // create kinematic model with centimeters
    const LinearUnits units = LinearUnits.Centimeters;
    const string modelName = "RSI_XYZABC_Centimeters";
    const double scaling = 1.0;
    const double offset = 0.0;
    
    // build model
    LinearModelBuilder builder = new(modelName);
    builder.UnitsSet(units);
    builder.JointAdd(new LinearJointMapping(0, CartesianAxis.X)     { ExpectedLabel = xLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(1, CartesianAxis.Y)     { ExpectedLabel = yLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(2, CartesianAxis.Z)     { ExpectedLabel = zLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(3, CartesianAxis.Roll)  { ExpectedLabel = aLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(4, CartesianAxis.Pitch) { ExpectedLabel = bLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(5, CartesianAxis.Yaw)   { ExpectedLabel = cLabel, Scaling = scaling, Offset = offset });
 
    // create Robot object
    Robot robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, MotionController.AxisFrameBufferSizeDefault);
    Helpers.CheckErrors(robot);
 
    // note: to use the above kinematic model you must have a gantry (linear 1:1 kinematics) 
    // and each linear axis must have its user units scaled to millimeters
 
    // this will return none - a gcode unit hasn't been established so it will use path units
    // if path units are not set it will use user units
    Console.WriteLine($"Initial G-Code units: {robot.Gcode.UnitsGet()}");
 
    robot.Gcode.AccelerationRateSet(10);  // sets G-Code acceleration to 10 Centimeters per MINUTE squared
    robot.Gcode.FeedRateSet(10);          // sets G-Code velocity to 10 Centimeters per MINUTE
 
    Console.WriteLine($"Acceleration rate (cm/min²): {robot.Gcode.AccelerationRateGet()}");
    Console.WriteLine($"Feed rate (cm/min): {robot.Gcode.FeedRateGet()}");
 
    robot.Gcode.UnitsSet(LinearUnits.Inches);  // this is the same as executing G-Code line G20
    Console.WriteLine($"G-Code units after setting to inches: {robot.Gcode.UnitsGet()}");
 
    robot.Gcode.AccelerationRateSet(10);  // sets G-Code acceleration to 10 Inches per MINUTE squared
    robot.Gcode.FeedRateSet(10);          // sets G-Code velocity to 10 Inches per MINUTE
 
    Console.WriteLine($"Acceleration rate (in/min²): {robot.Gcode.AccelerationRateGet()}");
    Console.WriteLine($"Feed rate (in/min): {robot.Gcode.FeedRateGet()}");
 
    // cleanup
    Robot.RobotDelete(controller, robot);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}