The RMP Motion Controller APIs
#include "rsi.h" // Import our RapidCode Library.
#include "HelperFunctions.h" // Import our SampleApp helper functions.
void PVTmotionMultiAxisMain()
using namespace RSI::RapidCode;
const int AXIS_X = (0);
const int AXIS_Y = (1);
const int POINTS = (3000); //total points used
const int AXIS_COUNT = (2); //two axis computation (X & Y)
const double TIME_SLICE = (0.01); //each point processed within 10ms
const int USER_UNITS = 1; // Specify USER UNITS
char rmpPath[] = "C:\\RSI\\X.X.X\\"; // Insert the path location of the RMP.rta (usually the RapidSetup folder)
// Initialize MotionController class.
MotionController *controller = MotionController::CreateFromSoftware(/*rmpPath*/); // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
HelperFunctions::CheckErrors(controller); // [Helper Function] Check that the axis has been initialize correctly.
HelperFunctions::StartTheNetwork(controller); // [Helper Function] Initialize the network.
controller->AxisCountSet(2); // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.
MultiAxis *multiAxisXY;
Axis *axisX = controller->AxisGet(AXIS_X); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
Axis *axisY = controller->AxisGet(AXIS_Y); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
HelperFunctions::CheckErrors(axisX); // [Helper Function] Check that the axis has been initialize correctly.
HelperFunctions::CheckErrors(axisY); // [Helper Function] Check that the axis has been initialize correctly.
axisX->UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
axisY->UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
// enable one MotionSupervisor for the MultiAxis
//controller->MotionCountSet(controller->AxisCountGet() + 1);
// Get Axis X and Y respectively.
axisX = controller->AxisGet(AXIS_X);
axisY = controller->AxisGet(AXIS_Y);
// Initialize a MultiAxis, using the last MotionSupervisor.
multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
long radius = 1000; //radius of circle
double PI = 3.14159265358979323; //variable used in equation to convert degrees to radians
double degrees = 90.00 / (POINTS); //angle between each point. Used in the equation below.
double position[POINTS * AXIS_COUNT]; //defining size of position array
double vel[POINTS * AXIS_COUNT]; //defining size of velocity array
double time[POINTS]; //defining size of time array
for (int i = 0, x = 0, y = 1; i < POINTS; i++)
position[x] = (radius*cos((i + 1)*degrees*PI / 180.0));
position[y] = (radius*sin((i + 1)*degrees*PI / 180.0));
x = x + 2;
y = y + 2;
time[i] = TIME_SLICE;
for (int i = 0, x = 0, y = 1; i < (POINTS - 1); i++)
vel[x] = (position[x + 2] - position[x]) / TIME_SLICE;
vel[y] = (position[y + 2] - position[y]) / TIME_SLICE;
x = x + 2;
y = y + 2;
//Final two points (X Axis Final Vel, Y Axis Final Vel) need to be set to 0.
vel[(POINTS * 2) - 2] = 0; //X Axis
vel[(POINTS * 2) - 1] = 0; //Y Axis
multiAxisXY->MovePVT(position, vel, time, POINTS, -1, false, true);
catch (RsiError const& err)
printf("\n%s\n", err.text);
controller->Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
system("pause"); // Allow time to read Console.
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
The MultiAxis object allows you to map two or more axes together and command synchronized motion.
Definition: rsi.h:11271
void AxisCountSet(int32_t axisCount)
Set the number of allocated and processed axes in the controller.
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
The RsiError object contains information about any RapidCode API object's error/exception.
Definition: rsi.h:105
void Delete(void)
Delete the MotionController and all its objects.
static MotionController * CreateFromSoftware()
Initialize and start the RMP EtherCAT controller.
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
void PositionSet(double position)
Set the Command and Actual positions.
void Abort()
Abort an axis.
void UserUnitsSet(double countsPerUserUnit)
Sets the number of counts per User Unit.
The MotionController object represents the RMP INtime soft motion controller.
Definition: rsi.h:770
void MovePVT(const double *const position, const double *const velocity, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
Move commanded by list of positions, velocities, and times.
The Axis object manages a single physical axis on a motion controller.
Definition: rsi.h:6118
void AmpEnableSet(bool enable)
Enable all amplifiers.
static void CheckErrors(RapidCodeObject rsiObject)
Check if the RapidCode Object has any errors.
Definition: HelperFunctions.cs:64
static void StartTheNetwork(MotionController controller)
Start the controller communication/network.
Definition: HelperFunctions.cs:109
int32_t MotionDoneWait()
Waits for a move to complete.
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
int32_t MotionCountGet()
Get the number of Motion Supervisors available in the firmware.