Camming.cs

using System;
using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using RSI.RapidCode.dotNET.Enums;

namespace SampleAppsCS
{
    class Camming
    {
        static void Main(string[] args)
        {
            // Constants
            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) ("user unit = 1" means it will do one count out of the 1048576)   
            const int MASTER_AXIS_NUMBER = 0;       // Specify which is your master axis/motor.
            const int SLAVE_AXIS_NUMBER = 1;        // Specify which is your slave axis/motor.
            const double MASTER_VELOCITY = 2;       // Specify your master's axis velocity.   -   units: Units/Sec      (it will do 1 counts / (1/104857) of a revolution every 1 second.)
            const double MASTER_ACCELERATION = 10;  // Specify your master's acceleration.    -   units: Units/Sec^2

            // Commanded Positions
            double[] masterDistances = { 5 * USER_UNITS, 20 * USER_UNITS, 15 * USER_UNITS };        // This is the RELATIVE master distance, every n revolutions it changes its slave position. (This is the x-axis)
            double[] slavePositions = { 10 * USER_UNITS, 20 * USER_UNITS, 10 * USER_UNITS };        // This is the final ABSOLUTE slave position, for every 5 revolutions one of this positions gets applied. (This is the y-axis)

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);                     // Insert the path location of the RMP.rta (usually the RapidSetup folder) (This sample app used RMP 8.1.3).
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialized correctly.

            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.

            Axis master = controller.AxisGet(MASTER_AXIS_NUMBER);                                   // Initialize master Class. (Use RapidSetup Tool to see what is your axis number)
            Axis slave = controller.AxisGet(SLAVE_AXIS_NUMBER);                                     // Initialize slave Class.

            SampleAppsCS.HelperFunctions.CheckErrors(master);                                       // [Helper Function] Check that the master axis has been initialize correctly.
            SampleAppsCS.HelperFunctions.CheckErrors(slave);                                        // [Helper Function] Check that the slave axis has been initialize correctly.

            try
            {
                controller.AxisCountSet(2);                                                         // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.

                master.UserUnitsSet(USER_UNITS);                                                    // (MUST BE SET TO 1 FOR CAMMING MOTION)
                master.ErrorLimitTriggerValueSet(1000);                                             // Specify the position error limit trigger. (Learn more about this on our support page)
                slave.UserUnitsSet(USER_UNITS);                                                     // (MUST BE SET TO 1 FOR CAMMING MOTION)
                slave.ErrorLimitTriggerValueSet(1000);

                master.Abort();                                                                     // If there is any motion happening, abort it.
                slave.Abort();

                master.ClearFaults();                                                               // Clear faults.
                slave.ClearFaults();

                master.AmpEnableSet(true);                                                          // Enable the motor.
                slave.AmpEnableSet(true);

                master.PositionSet(0);                                                              // this negates homing, so only do it in test/sample code.
                slave.PositionSet(0);

                // Command motion on the slave before the master starts
                slave.MoveCamLinear(master.NumberGet(),
                                    RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION,       // This specified to use the actual position of the master axis.
                                    masterDistances,
                                    slavePositions,
                                    masterDistances.Length);

                master.MoveVelocity(MASTER_VELOCITY, MASTER_ACCELERATION);                          // Command a constant velocity on the master axis, slave will follow.

                slave.MotionDoneWait();                                                             // Wait for the cam motion to complete

                master.Stop();                                                                      // Stop the master

                master.AmpEnableSet(false);                                                         // Disable the motor.
                slave.AmpEnableSet(false);

                Console.WriteLine("\nTest Complete\n");
                
            }
            catch (RsiError e)
            {
                Console.WriteLine(e.Message);                                                       // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}