The RMP Motion Controller APIs
#include "rsi.h" // Import our RapidCode Library.
#include "HelperFunctions.h" // Import our SampleApp helper functions.
void SingleAxisSyncOutputsMain()
using namespace RSI::RapidCode;
// Constants
const int NODE_INDEX = 0; // Specify which EtherCat Node will be used
const int AXIS_NUMBER = 0; // Specify which axis/motor to control.
const int USER_UNITS = 1048576; // Specify your counts per unit / user units. (the motor used in this sample app has 1048576 encoder pulses per revolution)
const int TOTAL_POINTS = 4; // total number of points
const int EMPTY_CT = -1; // Number of points that remains in the buffer before an e-stop
const int OUTPUT_INDEX = 0;
double positions[] = { 1.0, 2.0, 3.0, 4.0 }; // These will be the streaming motion 5 positions.
double times[] = { 0.5, 1.0, 2.0, 4.0 }; // These will be the streaming motion 5 positions' time.
int outputEnableID = 2; // The motion element ID at which to set the output
int outputDisableID = 3; // The motion element ID at which to set the output
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.
Axis *axis = controller->AxisGet(AXIS_NUMBER); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
HelperFunctions::CheckErrors(axis); // [Helper Function] Check that the axis has been initialize correctly.
axis->PositionSet(0); // Make sure motor starts at position 0 everytime.
axis->UserUnitsSet(USER_UNITS); // Change your user units.
axis->Abort(); // If there is any motion happening, abort it.
axis->ClearFaults(); // Clear faults.>
axis->AmpEnableSet(true); // Enable the motor.
// Set up the inputs
// Ensure the digital out is set low.
//IOPoint *output0 = IOPoint::CreateDigitalOutput(axis, RSIMotorGeneralIo.RSIMotorGeneralIo16); // Retrieve DOUT 1, Method 1: requires you know the io adress in memory, slightly faster
IOPoint *output0 = IOPoint::CreateDigitalOutput(controller->IOGet(NODE_INDEX), OUTPUT_INDEX); // Retrieve DOUT 1 Method 2: only need to know node index
// Set up Sync Outputs
axis->StreamingOutputsEnableSet(true); // Enable streaming output.
// ENABLE the Sync Output(s)
axis->StreamingOutputAdd(output0, true, outputEnableID); // This will turn DOUT1 High when the streaming motion reaches its 3rd motion point.
axis->StreamingOutputAdd(output0, false, outputDisableID); // This will turn DOUT1 Low when the streaming motion reaches its 4th motion point.
// DISABLE the Sync Output(s)
//axis->StreamingOutputAdd(output0, false, outPutEnableID);
axis->MovePT(RSIMotionType::RSIMotionTypePT, positions, times, TOTAL_POINTS, EMPTY_CT, false, true); // Start Streaming Motion
printf("Motion started. Waiting to complete.\n");
axis->MotionDoneWait(); // What for Streaming Motion to be done.
printf("Motion Complete. The outputs should have been set\n");
axis->StreamingOutputsEnableSet(false); // Disable Sync Outputs.
axis->AmpEnableSet(false); // Disable the motor.
catch (RsiError const& err)
printf("%s\n", err.text); // If there are any exceptions/issues this will be printed out.
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 StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address)
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:100
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.
IO * IOGet(int32_t nodeNumber)
IOGet returns a pointer to an IO object using its node number 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.
void StreamingOutputsEnableSet(bool enable)
Sets whether Streaming Output is enabled (true) or disabled (false).
void Set(bool state)
Set the state of a Digital Output.
The MotionController object represents the RMP INtime soft motion controller.
Definition: rsi.h:765
The IOPoint object represents one specific point class such as: Digital Output, Digital Input,...
Definition: rsi.h:12044
The Axis object manages a single physical axis on a motion controller.
Definition: rsi.h:6079
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.
void MovePT(RSIMotionType type, const double *const position, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
A move commanded by a list of position and time points.
static IOPoint * CreateDigitalOutput(Axis *axis, RSIMotorDedicatedOut motorDedicatedOutNumber)
Create a Digital Output from an Axis' Dedicated Output bits.