path-motion.cs

Note

See Motion: Path 📜 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 how to set up and run path motion with a Robot object.
    Shows how to create kinematic models, program path movements using lines and arcs,
    and execute coordinated multi-axis motion.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 Motion: Path");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);

    // set robot axis labels
    const string xLabel = "X-Axis";
    const string yLabel = "Y-Axis";
    const string zLabel = "Z-Axis";
    const string aLabel = "A-Axis";
    const string bLabel = "B-Axis";
    const string cLabel = "C-Axis";
 
    // get the 6 axis needed for XYZABC robot
    Axis xAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(xAxis);
    Axis yAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(yAxis);
    Axis zAxis = controller.AxisGet(Constants.AXIS_2_INDEX);
    Helpers.CheckErrors(zAxis);
    Axis aAxis = controller.AxisGet(Constants.AXIS_3_INDEX);
    Helpers.CheckErrors(aAxis);
    Axis bAxis = controller.AxisGet(Constants.AXIS_4_INDEX);
    Helpers.CheckErrors(bAxis);
    Axis cAxis = controller.AxisGet(Constants.AXIS_5_INDEX);
    Helpers.CheckErrors(cAxis);
 
    // configure phantom axes
    Helpers.PhantomAxisReset(xAxis);
    Helpers.PhantomAxisReset(yAxis);
    Helpers.PhantomAxisReset(zAxis);
    Helpers.PhantomAxisReset(aAxis);
    Helpers.PhantomAxisReset(bAxis);
    Helpers.PhantomAxisReset(cAxis);
 
    // set axis labels
    xAxis.UserLabelSet(xLabel);
    yAxis.UserLabelSet(yLabel);
    zAxis.UserLabelSet(zLabel);
    aAxis.UserLabelSet(aLabel);
    bAxis.UserLabelSet(bLabel);
    cAxis.UserLabelSet(cLabel);
 
    // create multi-axis object for joints
    MultiAxis jointsMultiAxis = controller.MultiAxisGet(0);
    Axis[] axes = [ xAxis, yAxis, zAxis, aAxis, bAxis, cAxis ];
    jointsMultiAxis.AxesAdd(axes, axes.Length);
    jointsMultiAxis.ClearFaults();
 
    // create kinematic model with 6-axis configuration
    const LinearUnits units = LinearUnits.Meters;
    const string modelName = "RSI_XYZABC_Meters";
    const double scaling = 1.0; 
    const double offset = 0.0;
 
    LinearModelBuilder builder = new(modelName);
    builder.UnitsSet(units);
    builder.JointAdd(new LinearJointMapping(0, CartesianAxis.X)     { ExpectedLabel = xLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(1, CartesianAxis.Y)     { ExpectedLabel = yLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(2, CartesianAxis.Z)     { ExpectedLabel = zLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(3, CartesianAxis.Roll)  { ExpectedLabel = aLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(4, CartesianAxis.Pitch) { ExpectedLabel = bLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(5, CartesianAxis.Yaw)   { ExpectedLabel = cLabel, Scaling = scaling, Offset = offset });
 
    // create Robot object with multi axis and kinematic model
    Robot robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, MotionController.AxisFrameBufferSizeDefault);
    Helpers.CheckErrors(robot);
 
    // print some robot info
    Console.WriteLine($"Robot model: {robot.ModelGet().NameGet()}");
    Console.WriteLine($"Robot units: {robot.ModelGet().UnitsGet()}");
 
    // set path motion parameters
    robot.PathAccelerationSet(1000);  // user units per sec squared
    robot.PathVelocitySet(50);        // user units per sec
 
    // program path motion
    robot.PathProgrammingModeSet(PathMode.Absolute);
    robot.PathLine(target: new Pose(1, 1, 1));
    robot.PathArc(
        target: new Pose(0, 2, 1),
        center: new Vector3d(0, 1, 1),
        direction: RotationDirection.Clockwise);
 
    // enable amplifiers
    jointsMultiAxis.AmpEnableSet(true);
 
    // start path motion (non-blocking)
    robot.Run();
 
    // monitor motion
    while (robot.IsRunning())
    {
        Thread.Sleep(100);
        Console.WriteLine("Path motion executing...");
    }
 
    // cleanup
    Robot.RobotDelete(controller, robot);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}