The RMP Motion Controller APIs
PVTmotionMultiAxis.cpp
#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.
try
{
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);
multiAxisXY->AxisAdd(axisX);
multiAxisXY->AxisAdd(axisY);
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->Abort();
multiAxisXY->ClearFaults();
multiAxisXY->AmpEnableSet(true);
axisX->PositionSet(radius);
axisY->PositionSet(0);
multiAxisXY->MovePVT(position, vel, time, POINTS, -1, false, true);
multiAxisXY->MotionDoneWait();
}
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.
}
static void CheckErrors(RapidCodeObject rsiObject)
Check if the RapidCodeObject has any errors.
static void StartTheNetwork(MotionController controller)
Start the controller communication/network.
void UserUnitsSet(double countsPerUserUnit)
Sets the number of counts per User Unit.
void PositionSet(double position)
Set the Command and Actual positions.
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5664
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
void Delete(void)
Delete the MotionController and all its objects.
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.
void AxisCountSet(int32_t axisCount)
Set the number of allocated and processed axes in the controller.
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:762
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
Represents multiple axes of motion control, allows you to map two or more Axis objects together for e...
Definition rsi.h:10564
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
void AmpEnableSet(bool enable)
Enable all amplifiers.
void Abort()
Abort an axis.
int32_t MotionDoneWait()
Waits for a move to complete.
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.
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:105