Overview of motion control types supported, including linear, rotational, cartesian, etc.
๐น Motion Types
- Cartesian
- G-Code
- Path
- Point to Point
- Streaming
- Velocity
โ FAQ
- Can you overwrite a motion command that is in progress?
Yes, point-to-point motion commands can be overwritten on-the-fly.
- Can you blend a point to point move with a velocity move?
Yes, you can command a [Axis](RSI::RapidCode::Axis).MoveTrapezoidal() "Axis.MoveTrapezoidal()" with a specified final velocity so that you can ensure at the time the axis gets to its target position, it will be moving at the specified velocity.
- How do you know when a move has been completed?
You can use [RapidCodeMotion](RSI::RapidCode::RapidCodeMotion).MotionDoneGet() "MotionDoneGet()" methods to wait until or check if motion is complete. Both methods check the status bit of RSIEventTypeMOTION_DONE. See our Settling topic for more information.
- Can you pause, and then later resume a motion that is in progress?
If you call [RapidCodeMotion](RSI::RapidCode::RapidCodeMotion).Stop() "Stop()" during motion, the axes will stop according to the specified stop time. Then you can either clear the previous motion command by calling [RapidCodeMotion](RSI::RapidCode::RapidCodeMotion).ClearFaults() "ClearFaults()" or you can resume the motion using Resume().
๐น Subsections
- Motion Concepts : Learn more about some RMP motion capabilities.
- Point to Point Motion : Perform synchronized or coordinated motion with one or many axes.
- Velocity Motion : Types of velocity motions
- Motion: Streaming : Stream data points for detailed motion control on single or multiple axes, using profiles tailored for precision and complexity. Adjust your motion dynamically.
- Backlash Compensation : Address and reduce lost motion in mechanical systems caused by gaps between parts by setting backlash parameters.
- Camming : Convert rotary motion into linear motion, or vice versa.
- Cartesian Robot : Control robots or machines in Cartesian space using the Robot class, applicable to various systems like gantries, robotic arms, and CNC machines, with support for G-Code & PathMotion.
- Compensator : Use compensators to add delta offsets to an axis's position based on stored position data for compensating surface irregularities.
- Feed Rate : Adjust the speed of a loaded motion profile without affecting its trajectory, allowing for stops, pauses, and reversals along the path, useful for operations like retracing and altering operating speeds dynamically.
- Feedback: Secondary (EL5101) : Utilize the EL5101 EtherCAT Terminal to interface with secondary encoders, enhancing measurement precision for various mechanical components by integrating additional position or velocity feedback into the EtherCAT network.
- Gantry : Control a single linear axis with two motors.
- G-Code : Use G-Code to specify coordinated motions in Cartesian space for specialized machines, with support for basic codes and a user interface for building or using pre-built configurations.
- Gearing : Link two or more axes such that the slave axis position is a function of the master axis position, useful in various systems like in-feed and conveying systems, achieved electronically without mechanical linkage.
- Motion Hold : Execute motion on an Axis or MultiAxis triggered by real-time conditions such as I/O values, axis positions, or software triggers.
- Path Motion : Define complex 3D paths using lines and arcs for moving an end effector in Cartesian space.
- Post Trajectory Gearing : Combine electronic gearing with point-to-point motion on a geared axis, applying the gearing offset after the slave axisโ motion processing, enabling correctional or superimposed motions.