multiaxis-motion-point-to-point.cs

/*  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");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // set the motion count to AxisCount + 1, every multiaxis needs a motion supervisor
    var axisCount = controller.AxisCountGet();
    controller.MotionCountSet(axisCount + 1);
 
    // get axes
    Axis axis0 = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis0);
    Axis axis1 = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(axis1);
 
    // get multiaxis (motion supervisor number is equal to number of axes because indexing starts at 0)
    MultiAxis multi = controller.MultiAxisGet(axisCount);
    Helpers.CheckErrors(multi);
 
    // remove any existing axes
    multi.AxisRemoveAll();
 
    // add axes to multiaxis
    multi.AxisAdd(axis0);
    multi.AxisAdd(axis1);
 
    // prepare for motion
    multi.Abort();  // stop any existing motion
    multi.ClearFaults();
    multi.AmpEnableSet(true);
 
    // disable position error for phantom axes
    axis0.ErrorLimitActionSet(RSIAction.RSIActionNONE);
    axis1.ErrorLimitActionSet(RSIAction.RSIActionNONE);
 
    // define motion parameters
    double[] positions1    = [ 5, 10 ];       // first set of positions
    double[] positions2    = [ 15, 15 ];      // second set of positions
    double[] velocities1   = [ 1000, 1000 ];  // velocities for first move
    double[] velocities2   = [ 1000, 1000 ];  // velocities for second move
    double[] accelerations = [ 500, 500 ];    // accelerations for both axes
    double[] decelerations = [ 500, 500 ];    // 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);
    controller.MotionCountSet(axisCount);  // remove multiaxis
 
    Console.WriteLine("\nMulti-axis point-to-point motion complete.");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}