SingleAxisSyncOutputs.cpp

 
#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. 
 
    try
    {
        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
        output0->Set(false);
 
        // 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.
}