This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.
This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires.

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This sample application allows you to command a nonlinear coordinated motion betweentwo axes.
Moving Axis Axis: this axis/motor may or may not be controlled by the motion controller.
Driven Axis: the motion controller controls the position of this axis/motor as a function of the position of the Moving Axis axis.
NOTE: User Units must be set to 1!

//Create RapidCode Objects
Axis moving_axis = controller.AxisGet(Constants.MAIN_AXIS_NUMBER);
Axis follower_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
// Constants
const double MAIN_VELOCITY = 50; // Specify your Moving Axis's velocity. - units: Units/Sec (it will do 1 counts / (1/104857) of a revolution every 1 second.)
const double MAIN_ACCELERATION = 20; // Specify your Moving Axis's acceleration. - units: Units/Sec^2
// Commanded Positions
double[] movingAxisDistances = { 5, 10, 8 }; // This is the RELATIVE Moving Axis distance, every n revolutions it changes its Driven position. (This is the x-axis)
double[] followerAxisPositions = { 10, 20, 10 }; // This is the final ABSOLUTE Driven position, for every 5 revolutions one of this positions gets applied. (This is the y-axis)
// Command motion on the Driven before the Moving Axis starts
RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // Use COMMAND for phantoms and ACTUAL for real axis.
moving_axis.MoveVelocity(MAIN_VELOCITY, MAIN_ACCELERATION); // Command a constant velocity on the master axis, Driven will follow.
follower_axis.MotionDoneWait(); // Wait for the cam motion to complet
moving_axis.Stop(); // Stop the Moving Axis

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Axis gearing on the XMP is based off of a Axis, RSIAxisMasterType, numerator, and denominator.
The Axis points to a Moving Axis axis to gear to.
The RSIAxisMasterType specifies what feedback source to gear to. The ratio between the lead and follower axes is set by a ratio of two longs – a numerator and a denominator.

//Create RapidCode Objects
Axis moving_axis = controller.AxisGet(Constants.MAIN_AXIS_NUMBER);
Axis follower_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
int numerator = 2; // Specify the numerator of the gearing ratio.
int denominator = 1; // Specify the denominator of the gearing ratio.
// Configure the 'follower' axis to be a follow to the 'moving' axis at a ratio of 2:1, that is,
// for every rotation of the Moving Axis axis, the Driven axis will rotate twice.
RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION, // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
// Perform a S-curve motion on the Moving Axis axis.
moving_axis.MotionDoneWait(); // Wait for motion to finish.
Assert.That(moving_axis.CommandPositionGet(), Is.EqualTo(Constants.POSITION), "The command position should be equal to POSITION");
Assert.That(follower_axis.CommandPositionGet(), Is.EqualTo(Constants.POSITION * (numerator / denominator)), "The command position should be equal to twice POSITION");