multiaxis-motion-velocity.cs

/*  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
}