Camming sample application.
This sample application allows you to command a nonlinear coordinated motion betweentwo axes.
Master Axis: this axis/motor may or may not be controlled by the motion controller.
Slave Axis: the motion controller controls the position of this axis/motor as a function of the position of the master axis.
NOTE: User Units must be set to 1!
- Precondition
- This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.
- Warning
- This is a sample program to assist in the integration of your motion controller with your application. It may not contain all of the logic and safety features that your application requires.
- Copyright
- Copyright © 1998-2019 by Robotic Systems Integration, Inc. All rights reserved. This software contains proprietary and confidential information of Robotic Systems Integration, Inc. (RSI) and its suppliers. Except as may be set forth in the license agreement under which this software is supplied, disclosure, reproduction, or use with controls other than those provided by RSI or suppliers for RSI is strictly prohibited without the prior express written consent of Robotic Systems Integration.
using System;
using RSI.RapidCode.dotNET;
using RSI.RapidCode.dotNET.Enums;
{
class Camming
{
static void Main(string[] args)
{
const int USER_UNITS = 1048576;
const int MASTER_AXIS_NUMBER = 0;
const int SLAVE_AXIS_NUMBER = 1;
const double MASTER_VELOCITY = 2;
const double MASTER_ACCELERATION = 10;
double[] masterDistances = { 5 * USER_UNITS, 20 * USER_UNITS, 15 * USER_UNITS };
double[] slavePositions = { 10 * USER_UNITS, 20 * USER_UNITS, 10 * USER_UNITS };
try
{
masterDistances,
slavePositions,
masterDistances.Length);
Console.WriteLine("\nTest Complete\n");
}
{
Console.WriteLine(e.Message);
}
Console.WriteLine("\nPress Any Key To Exit");
Console.ReadKey();
}
}
}