path-setup-gantry.cs

/*  This sample demonstrates how to set up a kinematic model with a gantry prime axis.
    Shows how to configure a 1:1 geared axis system where two physical axes work together
    to control the same cartesian coordinate.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Motion: Path Gantry");
 
// 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 yPrimeLabel = "Y-Prime";
 
    // get the 3 axis needed for XY_Yp robot
    Axis xAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(xAxis);
    Axis yAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(yAxis);
    Axis primeAxis = controller.AxisGet(Constants.AXIS_2_INDEX);
    Helpers.CheckErrors(primeAxis);
 
    // configure phantom axes
    Helpers.ConfigurePhantomAxis(xAxis);
    Helpers.ConfigurePhantomAxis(yAxis);
    Helpers.ConfigurePhantomAxis(primeAxis);
 
    // set the expected labels for each axis
    xAxis.UserLabelSet(xLabel);
    yAxis.UserLabelSet(yLabel);
    primeAxis.UserLabelSet(yPrimeLabel);
 
    // the joint index of each axis is the index within the MultiAxis object
    // "X-Axis" has joint index 0
    // "Y-Axis" has joint index 1
    // "Y-Prime" has joint index 2
    MultiAxis jointsMultiAxis = controller.MultiAxisGet(0);
    Axis[] axes = [xAxis, yAxis, primeAxis];
    jointsMultiAxis.AxesAdd(axes, axes.Length);
 
    const LinearUnits units = LinearUnits.Millimeters;
    const string modelName = "RSI_XY_Yp";
    const double scaling = 1.0, 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.Y) { ExpectedLabel = yPrimeLabel, Scaling = scaling, Offset = offset });
 
    // create Robot object where the y and y prime will be geared 1:1
    const int motionFrameBufferSize = 50; // this is the minimum valid motion frame buffer size
    Robot robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, motionFrameBufferSize);
    Helpers.CheckErrors(robot);
 
    Console.WriteLine($"Model name: {robot.ModelGet().NameGet()}");
    Console.WriteLine($"Model units: {robot.ModelGet().UnitsGet()}");
    Console.WriteLine("Gantry configuration: Y-axis and Y-Prime axis are geared 1:1");
 
    // cleanup
    Robot.RobotDelete(controller, robot);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}