PTmotion.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 


void PTmotionMain()
{
    using namespace RSI::RapidCode;

    // Constants
    const int AXIS_NUMBER = 0;                      // Specify which axis/motor to control.
    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)  Resolution = 2^20 = 1048576 Counts/MtrRev (set by AKD drive)

    int points = 3;                                 // Specify the total number of streamed points.
    int emptyCount = -1;                            // E-stop generated if there are this number or fewer frames loaded. Use the value "0" to trigger an E-stop when the buffer is empty, or “-1” to not trigger an E-stop. (Typically for PT motion there are two frames per PT point)

    double positions[] = { 2.0, 5.0, 0.0 };         // Specify the positions that you want to reach. (it can be n number)
    double times[] = { 2.0, 3.0, 1.0 };             // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)

    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.

        axis->UserUnitsSet(USER_UNITS);                                         // Specify the counts per Unit.
        axis->PositionSet(0);                                                   // Make sure motor starts at position 0 everytime.
        axis->ErrorLimitTriggerValueSet(1);                                     // Set the position error trigger value
        axis->Abort();                                                          // If there is any motion happening, abort it.
        axis->ClearFaults();                                                    // Clear faults.
        axis->AmpEnableSet(true);                                               // Enable the motor.

        axis->MovePT(RSIMotionType::RSIMotionTypePT,                            // Specify the type of PT Motion that you want to perform. (RSIMotionType.RSIMotionTypePT, RSIMotionType.RSIMotionTypeBSPLINE, RSIMotionType.RSIMotionTypeBSPLINE2)
            positions,                                                          // Specify the positions that you want to reach. (it can be n number)
            times,                                                              // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
            points,                                                             // Specify the total number of streamed points.
            emptyCount,                                                         // E-stop generated if there are this number or fewer frames loaded. Use the value “0” to trigger an E-stop when the buffer is empty, or “-1” to not trigger an E-stop. (Typically for PT motion there are two frames per PT point)
            false,                                                              // Specify whether points are kept, or are not kept.
            true);                                                              // Specify if this is the last MovePT. (If True, this is the final point. If False, more points expected.)

        axis->MotionDoneWait();                                                 // Wait for motion to be completed.
    }
    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. 
}