Motion: Gearing

Learn how to configure Gearing coordinated motion between axes in C#.

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.

In this page:

• 📜 Gearing Motion

📜 Gearing Motion

Learn how to configure electronic Gearing 📖 between two axes. The follower axis follows the moving axis at a specified gear ratio (numerator/denominator). Shows how to set up a 2:1 gear ratio where the follower rotates twice for each rotation of the moving axis.

/*  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
}