Gearing.cs

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

namespace SampleAppsCS
{
    class Gearing
    {
        static void Main(string[] args)
        {
            // Constants
            const int MASTER_AXIS = 0;         // Specify which axis will be the master axis
            const int SLAVE_AXIS = 1;          // Specify which axis will be the slave axis
            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 POSITION1 = 50;          // Specify the position to travel to.
            const int POSITION2 = 0;           // Specify the position to travel to.
            const double VELOCITY = 10;        // Specify your velocity - units: units/sec     (it will do (1048576*10)counts/10-revolutions every 1 second.)
            const double ACCELERATION = 100;   // Specify your acceleration - units: units/sec^2
            const double DECELERATION = 100;   // Specify your deceleration - units: units/sec^2
            const double JERK_PERCENT = 50;    // Specify your jerk percentage

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

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

            Axis master = controller.AxisGet(MASTER_AXIS);                                      // Initialize master Class. (Use RapidSetup Tool to see what is your axis number)
            Axis slave = controller.AxisGet(SLAVE_AXIS);                                        // 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);                                                // Specify the counts per Unit.
                master.ErrorLimitTriggerValueSet(1);                                            // Specify the position error limit trigger. (Learn more about this on our support page)
                slave.UserUnitsSet(USER_UNITS);
                slave.ErrorLimitTriggerValueSet(1);
                slave.ErrorLimitActionSet(RSIAction.RSIActionNONE);                             // If NOT using a Phantom Axis, switch to RSIActionABORT

                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);                                                          // Zero the position (in case the program is run multiple times)
                slave.PositionSet(0);                                                           // this negates homing, so only do it in test/sample code.

                Console.WriteLine("Gearing Example");

                int numerator = 2;                                                              // Specify the numerator of the gearing ratio.
                int denominator = 1;                                                            // Specify the denominator of the gearing ratio.

                // Configure the 'slave' axis to be a slave to the 'master' axis at a ratio of 2:1, that is,
                // for every rotation of the master axis, the slave axis will rotate twice.
                slave.GearingEnable(master,
                                    RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION,    // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
                                    numerator,
                                    denominator);

                Console.WriteLine("\nTesting for Gearing Ratio {0}/{1}\n", numerator, denominator);

                master.MoveSCurve(POSITION1,
                                    VELOCITY,
                                    ACCELERATION,
                                    DECELERATION,
                                    JERK_PERCENT);                                              // Perform a S-curve motion on the master axis.

                master.MotionDoneWait();                                                        // Wait for motion to finish.

                // Test changing the gearing ratio to -1:1, that is,
                // for every rotation of the master axis, the slave axis will rotate once in the opposite direction
                numerator = -1;
                denominator = 1;

                slave.GearingRatioChange(numerator, denominator);                               // Change the electronic gearing ratio

                Console.WriteLine("\nTesting for Gearing Ratio {0}/{1}\n", numerator, denominator);

                master.MoveSCurve(POSITION2,                                                        // New Position.
                                    VELOCITY,
                                    ACCELERATION,
                                    DECELERATION,
                                    JERK_PERCENT);                                              // Perform a S-curve motion on the master axis again.

                master.MotionDoneWait();                                                        // Wait for motion to finish.

                Console.WriteLine("\nDisable Gearing\n");

                slave.GearingDisable();                                                         // Disable gearing on the slave.
                master.AmpEnableSet(true);                                                      // Disable the motor.
                slave.AmpEnableSet(true);

                Console.WriteLine("\nTest Complete\n");
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                               // Allow time to read Console.
            Console.ReadKey();
        }
    }
}