Learn how to set the velocity based on an analog input value.
- 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.
📜 Velocity Set by Analog Input Value
This Sample App was created using the EL3002 Analog Input module. Please note that some variable values might changed based on your analog input module.
The functionality used with many other Analog Input modules, not only Beckhoff's.
Learn more about the EL3XXX analog input modules from beckhoff. (https://www.beckhoff.com/english/ethercat/analog.htm)
35
36 double analogMaxValue = 65536;
37 double currentVelocity = 0;
38 double analogCurrentValue = 0;
39 double analogValuePrecentage = 0;
40 double velocityAbsoluteSum = 0;
41
42
43 const int AXIS_NUMBER = 0;
44 const int NODE_NUMBER = 0;
45 const int ANALOG_INPUT_0 = 0;
46 const int MIN_VEL = -10;
47 const int MAX_VEL = 10;
48 const int ACC = 100;
49 const int USER_UNITS = 1048576;
50
51
55
58
59 IO ioNode = controller.
IOGet(NODE_NUMBER);
61
62 try
63 {
64
65 Console.WriteLine("Velocity Move Initialized.");
66 Console.WriteLine("Max Speed = " + MAX_VEL);
67 Console.WriteLine("Min Speed = " + MIN_VEL);
68 Console.WriteLine("\nPress SPACEBAR to exit.");
69
70
79
80 do
81 {
82 while (!Console.KeyAvailable)
83 {
84 velocityAbsoluteSum = Math.Abs(MIN_VEL) + Math.Abs(MAX_VEL);
85 analogCurrentValue = (double)ioNode.AnalogInGet(ANALOG_INPUT_0);
86 analogValuePrecentage = analogCurrentValue / analogMaxValue;
87
88
89
90
91
92
93
94
95 if (analogValuePrecentage * 100 > 99 || analogValuePrecentage * 100 < 1)
96 currentVelocity = 0;
97
98 else if (analogValuePrecentage * 100 < 50)
99 currentVelocity = velocityAbsoluteSum * analogValuePrecentage;
100
101 else
102 currentVelocity = -velocityAbsoluteSum + (velocityAbsoluteSum * analogValuePrecentage);
103
105
106 }
107 } while (Console.ReadKey(true).Key != ConsoleKey.Spacebar);
108
110 }
111 catch (Exception e)
112 {
113 Console.WriteLine(e.Message);
114 }
Learn more in topic page.