G-code Motion

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. More...

Warning

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. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

📜 G-Code
Setup and run a simple G-Code program.

    string gcodprgm = "G91; Sets the programming mode to RELATIVE\n" +
                      "G64; Turns off exact stop mode(Default)\n" +
                      "G1 X1.0 Y0.0 Z0.0 F60.0; Move on USERUNIT in positive x direction at 60in/min\n" +
                      "G3 X1 Y1 I0 J1; Counter clockwise arc with a center point of 0,1,0 and end point of 1,1,0 relative to the current position\n";
 
    // We assume the axes have been confgured and homed properly prior this this program.
    const string xLabel = "X-Axis";
    const string yLabel = "Y-Axis";
    const string zLabel = "Z-Axis";
    const string aLabel = "A-Axis";
    const string bLabel = "B-Axis";
    const string cLabel = "C-Axis";
 
    x_axis.UserLabelSet(xLabel);
    y_axis.UserLabelSet(yLabel);
    z_axis.UserLabelSet(zLabel);
    a_axis.UserLabelSet(aLabel);
    b_axis.UserLabelSet(bLabel);
    c_axis.UserLabelSet(cLabel);
 
    // The joint index of each axis is the index within the MultiAxis object.
    // "X-Axis" has joint index 0
    // "Y-Axis" has joint index 1
    // "Z-Axis" has joint index 2
    // "A-Axis" has joint index 3
    // "B-Axis" has joint index 4
    // "C-Axis" has joint index 5
    Axis[] axes = new Axis[] { x_axis, y_axis, z_axis, a_axis, b_axis, c_axis };
    jointsMultiAxis.AxesAdd(axes, axes.Length);
    jointsMultiAxis.ClearFaults();
 
    const string modelName = "RSI_XYZABC";
    const double scaling = 1.0, offset = 0.0;
    LinearModelBuilder builder = new LinearModelBuilder(modelName);
    builder.JointAdd(new LinearJointMapping(0, CartesianAxis.X)     { ExpectedLabel = xLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(1, CartesianAxis.Y)     { ExpectedLabel = yLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(2, CartesianAxis.Z)     { ExpectedLabel = zLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(3, CartesianAxis.Roll)  { ExpectedLabel = aLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(4, CartesianAxis.Pitch) { ExpectedLabel = bLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(5, CartesianAxis.Yaw)   { ExpectedLabel = cLabel, Scaling = scaling, Offset = offset });
 
    // Create a Robot object with a multi axis containing all joints and the kinematic type
    const int motionFrameBufferSize = 50; // This is the minimum valid motion frame buffer size.
    robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, motionFrameBufferSize);
    HelperFunctions.CheckErrors(robot);
    robot.GcodeAccelerationRateSet(1000); // UserUnits per min sqd
 
    try
    {
      robot.GcodeStringLoad(gcodprgm); // Loads in the string and prepairs it for execution
    }
    catch (Exception e)
    {
      if (robot.GcodeErrorLineNumberGet() != -1) 
      {
        // LineNumberGet retusns positive when a gcode errors exists on a known line. Or if the exception is of type PathLine or GcodeLine
        Console.WriteLine("Error on line: " + robot.GcodeErrorLineNumberGet() + "Details: " + e.Message);
      }
      else
      {
        Console.WriteLine("Error: " + e.Message);
      }
    }
    jointsMultiAxis.ClearFaults();
    jointsMultiAxis.AmpEnableSet(true);
    robot.Run(); // Starts the motion. Calling with the false arguement for non blocking behavior
    Int64 activeLineNumber = 0;
    do
    {
      Thread.Sleep(200);
      if (activeLineNumber != robot.GcodeExecutingLineNumberGet()) // only write if we are on a new line
      {
        activeLineNumber = robot.GcodeExecutingLineNumberGet();
        Console.WriteLine("G-Code Line Number: " + activeLineNumber);
      }
    } while (robot.IsRunning());

Learn more in topic page.

📜 Changing Linear Units G-Code
How changing linear units affects vel and accel setters.

    const string xLabel = "X-Axis";
    const string yLabel = "Y-Axis";
    const string zLabel = "Z-Axis";
    const string aLabel = "A-Axis";
    const string bLabel = "B-Axis";
    const string cLabel = "C-Axis";
 
    x_axis.UserLabelSet(xLabel);
    y_axis.UserLabelSet(yLabel);
    z_axis.UserLabelSet(zLabel);
    a_axis.UserLabelSet(aLabel);
    b_axis.UserLabelSet(bLabel);
    c_axis.UserLabelSet(cLabel);
 
    // The joint index of each axis is the index within the MultiAxis object.
    // "X-Axis" has joint index 0
    // "Y-Axis" has joint index 1
    // "Z-Axis" has joint index 2
    // "A-Axis" has joint index 3
    // "B-Axis" has joint index 4
    // "C-Axis" has joint index 5
    Axis[] axes = new Axis[] { x_axis, y_axis, z_axis, a_axis, b_axis, c_axis };
    jointsMultiAxis.AxesAdd(axes, axes.Length);
    jointsMultiAxis.ClearFaults();
 
    const string modelName = "RSI_XYZABC_Centimeters";
    const LinearUnits units = LinearUnits.Centimeters;
    const double scaling = 1.0, offset = 0.0;
    LinearModelBuilder builder = new LinearModelBuilder(modelName);
    builder.UnitsSet(units);
    builder.JointAdd(new LinearJointMapping(0, CartesianAxis.X)     { ExpectedLabel = xLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(1, CartesianAxis.Y)     { ExpectedLabel = yLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(2, CartesianAxis.Z)     { ExpectedLabel = zLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(3, CartesianAxis.Roll)  { ExpectedLabel = aLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(4, CartesianAxis.Pitch) { ExpectedLabel = bLabel, Scaling = scaling, Offset = offset });
    builder.JointAdd(new LinearJointMapping(5, CartesianAxis.Yaw)   { ExpectedLabel = cLabel, Scaling = scaling, Offset = offset });
 
    // Create a Robot object with a multi axis containing all joints and the kinematic type
    const int motionFrameBufferSize = 50; // This is the minimum valid motion frame buffer size.
    robot = Robot.RobotCreate(controller, jointsMultiAxis, builder, motionFrameBufferSize);
    HelperFunctions.CheckErrors(robot);
 
    //NOTE: to use the above kinematic model you must have a gantry (linear 1:1 kinematics) and each linear axis must have its user units scaled to millimeters
 
    //This will return none. A gcode unit hasn't been established to it will use path units. If path units are not set it will use user units.
    Console.WriteLine(robot.GcodeUnitsGet()); 
 
    robot.GcodeAccelerationRateSet(10); //Sets the G-Code acceleration to 10 Centimeters(USER UNITS) per MINUTE sqd
    robot.GcodeFeedRateSet(10);     //Sets the G-Code velocity to 10 Centimeters(USER UNITS) per MINUTE
 
    robot.GcodeUnitsSet(LinearUnits.Inches);//This is the same as executing the G-Code Line G20
    Console.WriteLine(robot.GcodeUnitsGet());//This will return Inches as you just set. 
 
 
    robot.GcodeAccelerationRateSet(10); //Sets the G-Code acceleration to 10 Inches per MINUTE sqd
    robot.GcodeFeedRateSet(10);     //Sets the G-Code velocity to 10 Inches per MINUTE
 
    //NOTE: Changing the G-Code Feedreate and Velocity will also change the Path Feedrate and Velocity.

Learn more in topic page.