gearing.cs

/*  This sample demonstrates how to configure electronic gearing between two axes.
    The follower axis position is controlled as a ratio of the moving axis position.
    Moving Axis: the master axis that drives the motion.
    Follower Axis: follows the moving axis at a specified gear ratio.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Gearing");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
// set sample config params
const int NUMERATOR = 2;    // for every 1 rotation of moving axis...
const int DENOMINATOR = 1;  // ...follower axis rotates 2 times (2:1 ratio)
const double POSITION = 10;
const double VELOCITY = 10;
const double ACCELERATION = 100;
const double DECELERATION = 100;
const double JERK_PERCENT = 50;
 
try
{
    Helpers.CheckErrors(controller);
 
    // get axes
    Axis movingAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(movingAxis);
 
    Axis followerAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(followerAxis);
 
    // configure phantom axes
    Helpers.PhantomAxisReset(movingAxis);
    Helpers.PhantomAxisReset(followerAxis);
 
    // enable phantoms to keep commanded position after motion done
    movingAxis.AmpEnableSet(true);
    followerAxis.AmpEnableSet(true);
 
    // configure follower axis to gear to moving axis
    followerAxis.GearingEnable(
        masterAxisNumber:     movingAxis.NumberGet(),
        masterFeedbackSource: RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION,  // use COMMAND for phantoms, ACTUAL for real axis
        numerator:            NUMERATOR,
        denominator:          DENOMINATOR);
 
    // perform s-curve motion on moving axis
    movingAxis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
 
    // wait for motion to complete
    movingAxis.MotionDoneWait();
 
    // print results
    Console.WriteLine($"Moving axis final position: {movingAxis.CommandPositionGet()}");
    Console.WriteLine($"Follower axis final position: {followerAxis.CommandPositionGet()}");
    Console.WriteLine($"Gear ratio: {NUMERATOR}:{DENOMINATOR}");
 
    // disable gearing
    followerAxis.GearingDisable();
 
    // cleanup
    Helpers.AbortMotionObject(followerAxis);
    Helpers.AbortMotionObject(movingAxis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}