path-motion.cs

/*  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.ConfigurePhantomAxis(xAxis);
    Helpers.ConfigurePhantomAxis(yAxis);
    Helpers.ConfigurePhantomAxis(zAxis);
    Helpers.ConfigurePhantomAxis(aAxis);
    Helpers.ConfigurePhantomAxis(bAxis);
    Helpers.ConfigurePhantomAxis(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
}