FeedRate.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
void FeedRateMain()
{
    using namespace RSI::RapidCode;

    // Constants
    const int AXIS_NUMBER = 0;                      // Specify the axis that will be used.
    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)       


    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.
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 

    try
    {
        SampleAppsCPP::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)
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                                // [Helper Function] Check that the axis has been initialize correctly.

        // Get Axis Ready for Motion
        axis->UserUnitsSet(USER_UNITS);                                                   // Specify the counts per Unit.
        axis->ErrorLimitTriggerValueSet(1);                                               // Specify the position error limit trigger. (Learn more about this on our support page)
        axis->PositionSet(0);                                                             // Make sure motor starts at position 0 everytime.
        axis->DefaultVelocitySet(1);                                                      // Specify velocity.
        axis->DefaultAccelerationSet(10);                                                 // Specify acceleration.
        axis->DefaultDecelerationSet(10);                                                 // Specify deceleration.
        axis->FeedRateSet(1);                                                             // Make sure the FeedRate has its default value.

        axis->Abort();                                                                    // If there is any motion happening, abort it.
        axis->ClearFaults();                                                              // Clear faults.>
        axis->AmpEnableSet(true);                                                         // Enable the motor.

        // Start Motion
        printf("Motion Start\n");
        axis->MoveSCurve(15);                                                             // Call MoveScurve to move to a position.

        while (axis->ActualPositionGet() < 10) {}                                         // Wait here until we reach position "15".

        axis->Stop();                                                                     // Stop the axis/motor.
        axis->MotionDoneWait();                                                           // Wait for move to complete.
        axis->FeedRateSet(-1);                                                            // Change FeedRate to reverse motion.
        axis->Resume();                                                                   // Start Reverse Motion.

        printf("New Feed Rate Start\n");

        while (axis->ActualPositionGet() > 5) {}                                          // Wait here until we reach position "5".

        axis->Stop();                                                                     // Stop the axis/motor.
        axis->MotionDoneWait();                                                           // Wait for move to complete.
        axis->FeedRateSet(1);                                                             // Change FeedRate to default value.
        axis->Resume();                                                                   // Resume the MoveScurve Motion.

        printf("New Feed Rate Start\n");

        axis->MotionDoneWait();                                                           // Wait for move to complete.
        axis->AmpEnableSet(true);                                                         // Disable axis/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.
}