multiaxis-motion-point-to-point.cs

Note

See Motion: Multi-Axis 📜 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 both trapezoidal and S-curve point-to-point motion profiles for multi-axis motion.
    The MultiAxis object coordinates the motion of multiple axes simultaneously.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 MultiAxis Motion: Point to Point");
 
int exitCode = 0;
 
// get rmp objects
MotionController controller = MotionController.Get();
Console.WriteLine($"Axis Count: {controller.AxisCountGet()}");
 
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller, minRequiredSampleAxisCount: 2, minRequiredSampleMultiAxisCount: 1);
 
    // get axes
    int axisCount = controller.AxisCountGet();
    Axis axis0 = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis0);
    Axis axis1 = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(axis1);
 
    if (!Constants.USE_HARDWARE)
    {
        Helpers.PhantomAxisReset(axis0);
        Helpers.PhantomAxisReset(axis1);
    }
 
    // get multiaxis (indexed by motion supervisor number, indexing starts at 0)
    MultiAxis multi = controller.LoadExistingMultiAxis(axisCount);
    Helpers.CheckErrors(multi);
 
    // remove any existing axes
    multi.AxisRemoveAll();
 
    // add axes to multiaxis
    multi.AxisAdd(axis0);
    multi.AxisAdd(axis1);
 
    // Use MotionAttributeMaskOnSet and MotionAttributeMaskOffSet to enable/disable synchronization features
    // Both SYNC_START and SYNC_END are enabled by default
    // See our Motion: Point-to-Point documentation for more details
    // multi.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskSYNC_START);
    // multi.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskSYNC_END);
 
    // prepare for motion
    multi.Abort();  // stop any existing motion
    multi.ClearFaults();
    multi.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    // Reset axes and position
    axis0.PositionSet(0);
    axis1.PositionSet(0);
 
    // define motion parameters
    double[] positions1    = [ 5, 10 ];       // first set of positions
    double[] positions2    = [ 15, 15 ];      // second set of positions
    double[] velocities1   = [ 10, 10 ];  // velocities for first move
    double[] velocities2   = [ 10, 10 ];  // velocities for second move
    double[] accelerations = [ 20, 20 ];    // accelerations for both axes
    double[] decelerations = [ 20, 20 ];    // decelerations for both axes
    double[] jerkPercent   = [ 50, 50 ];      // jerk percent for s-curve motion
 
    // move using s-curve motion profile
    Console.WriteLine($"\nMove 1 (S-Curve): Positions = [{positions1[0]}, {positions1[1]}]");
    multi.MoveSCurve(positions1, velocities1, accelerations, decelerations, jerkPercent);
    multi.MotionDoneWait();  // wait for motion to complete
 
    Console.WriteLine($"Axis 0 CommandPosition: {axis0.CommandPositionGet()} (expected: {positions1[0]})");
    Console.WriteLine($"Axis 1 CommandPosition: {axis1.CommandPositionGet()} (expected: {positions1[1]})");
 
    // move using trapezoidal motion profile
    Console.WriteLine($"\nMove 2 (Trapezoidal): Positions = [{positions2[0]}, {positions2[1]}]");
    multi.MoveTrapezoidal(positions2, velocities2, accelerations, decelerations);
    multi.MotionDoneWait();  // wait for motion to complete
 
    Console.WriteLine($"Axis 0 CommandPosition: {axis0.CommandPositionGet()} (expected: {positions2[0]})");
    Console.WriteLine($"Axis 1 CommandPosition: {axis1.CommandPositionGet()} (expected: {positions2[1]})");
 
    // cleanup
    Helpers.AbortMotionObject(multi);
    multi.ClearFaults();
    multi.AxisRemoveAll();
 
    Console.WriteLine("\nMulti-axis point-to-point motion complete.");
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;