MotionController Axis MultiAxis IO IOPoint NetworkNode RsiError
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RapidCode API

PVTmotion.cpp
#include "rsi.h" // Import our RapidCode Library.
#include "HelperFunctions.h" // Import our SampleApp helper functions.
void PVTmotionMain()
{
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. (Very Important!)
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[] = { 4.0, 8.0, 16.0 }; // Specify the positions that you want to reach. (it can be n number)
double velocities[] = { 1.0, 2.0, 4.0 }; // Specify the velocities that you want to use to reach your position.
double times[] = { 4.0, 2, 1 }; // 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->MovePVT(positions, // Specify the type of PT Motion that you want to perform. (RSIMotionType.RSIMotionTypePT, RSIMotionType.RSIMotionTypeBSPLINE, RSIMotionType.RSIMotionTypeBSPLINE2)
velocities, // 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.
system("pause"); // Allow time to read Console.
}