multiaxis-motion-velocity.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 updating a multi-axis velocity synchronously and on the fly.
    It can update velocities at a rate of ~2ms.
    Before running this sample app:
      1. Make sure to configure your Multi-Axis on RapidSetup.
      2. Make sure to adjust your Limits and Action for all axes.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 MultiAxis Motion: Velocity");
 
// set sample config params
const int CYCLES = 3;  // how many times to update the velocity
 
// 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);
    Axis axis2 = controller.AxisGet(Constants.AXIS_2_INDEX);
    Helpers.CheckErrors(axis2);
 
    // 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);
    multi.AxisAdd(axis2);
 
    // prepare for motion
    multi.Abort();
    multi.ClearFaults();
    multi.AmpEnableSet(true);
 
    // define motion parameters
    double[] accelerations = [1000, 1000, 1000];
    double[] velocities = [0, 0, 0];
    Random rnd = new Random();  // for generating random velocities
 
    // update velocities on the fly
    for (int i = 0; i < CYCLES; i++)
    {
        // generate random velocities for all axes
        velocities[0] = rnd.Next(1, 100);
        velocities[1] = rnd.Next(1, 100);
        velocities[2] = rnd.Next(1, 100);
 
        Console.WriteLine($"Cycle {i + 1}: Velocities = [{velocities[0]}, {velocities[1]}, {velocities[2]}]");
 
        // move multiaxis (this will also update the move on the fly)
        multi.MoveVelocity(velocities, accelerations);
 
        // short delay before next iteration
        Thread.Sleep(100);
    }
 
    // clean up
    Helpers.AbortMotionObject(multi);      // stop motion on all axes
    controller.MotionCountSet(axisCount);  // remove multiaxis
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}