#include "rsi.h"
#include "HelperFunctions.h"
void PVTmotionMultiAxisMain()
{
const int AXIS_X = (0);
const int AXIS_Y = (1);
const int POINTS = (3000);
const int AXIS_COUNT = (2);
const double TIME_SLICE = (0.01);
const int USER_UNITS = 1;
char rmpPath[] = "C:\\RSI\\X.X.X\\";
try
{
axisX = controller->
AxisGet(AXIS_X);
axisY = controller->
AxisGet(AXIS_Y);
long radius = 1000;
double PI = 3.14159265358979323;
double degrees = 90.00 / (POINTS);
double position[POINTS * AXIS_COUNT];
double vel[POINTS * AXIS_COUNT];
double time[POINTS];
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;
}
vel[(POINTS * 2) - 2] = 0;
vel[(POINTS * 2) - 1] = 0;
multiAxisXY->
MovePVT(position, vel, time, POINTS, -1,
false,
true);
}
{
printf(
"\n%s\n", err.
text);
}
system("pause");
}
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,...
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...
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...
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 ...