gcode-units.cs

Note

See Motion: G-Code 📜 for a detailed explanation of this sample code.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

/*  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.PhantomAxisReset(xAxis);
    Helpers.PhantomAxisReset(yAxis);
    Helpers.PhantomAxisReset(zAxis);
    Helpers.PhantomAxisReset(aAxis);
    Helpers.PhantomAxisReset(bAxis);
    Helpers.PhantomAxisReset(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
}