Compensator2D.cs

2D position compensation table.

This sample application demonstrates how to use the compensator.

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 © 1998-2020 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 RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using RSI.RapidCode.dotNET.Enums;   // Import RapidCode enums
using System;

namespace SampleAppsCS
{
    class Compensator2D
    {
        static void Main(string[] args)
        {

            try
            {
                // Constants
                const int X_AXIS_NUM = 0;         // Specify which axis/motor to control.
                const int Y_AXIS_NUM = 1;          // Specify which axis/motor to control.
                const int Z_AXIS_NUM = 2;
                const int COMPENSATOR_NUM = 0;     // Specify The address number of your compensator
                const int USER_UNITS = 1048576;    // Specify your counts per unit / user units.            
                const int ACCELERATION = 2;        // Specify your acceleration.   -   units: Units/Sec^2
                const int DECELERATION = 2;        // Specify your deceleration.   -   units: Units/Sec^2

                const int X_MIN = 0;
                const int X_MAX = 50;
                const int X_DELTA = 10;
                const int Y_MIN = 0;
                const int Y_MAX = 50;
                const int Y_DELTA = 10;
                const int COMPENSATOR_X_POINTS = ((X_MAX - X_MIN) / X_DELTA) + 1;
                const int COMPENSATOR_Y_POINTS = ((Y_MAX - Y_MIN) / Y_DELTA) + 1;
                const int POINTS = (COMPENSATOR_X_POINTS) * (COMPENSATOR_Y_POINTS);

                // Compensator uses Axis COUNTS NOT user units
                double[] TABLE = new double[POINTS] {
                             0,      0,       0,      0,       0,       0,
                           100,    200,    -200,     10,     300,       0,
                           100,    200,    -500,    400,     500,       0,
                             0,      0,       0,      0,       0,       0,
                          -300,    300,    -300,   -300,    -300,       0,
                             0,      0,       0,      0,       0,       0,

                    };

                // 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.

                //Setup memory space for the compensator
                controller.CompensatorCountSet(1);
                controller.CompensatorPointCountSet(COMPENSATOR_NUM, TABLE.Length);

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

                Axis x = controller.AxisGet(X_AXIS_NUM);                                        // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
                Axis y = controller.AxisGet(Y_AXIS_NUM);                                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
                Axis z = controller.AxisGet(Z_AXIS_NUM);                                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)

                SampleAppsCS.HelperFunctions.CheckErrors(x);                                     // [Helper Function] Check that the axis has been initialize correctly.
                SampleAppsCS.HelperFunctions.CheckErrors(y);                                      // [Helper Function] Check that the axis has been initialize correctly.
                SampleAppsCS.HelperFunctions.CheckErrors(z);                                      // [Helper Function] Check that the axis has been initialize correctly.

                // Prepair each axis
                x.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                x.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                x.Abort();                                                                       // If there is any motion happening, abort it.
                x.ClearFaults();                                                                 // Clear faults.

                // Prepair each axis
                y.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                y.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                y.Abort();                                                                       // If there is any motion happening, abort it.
                y.ClearFaults();
                // Home the axis so we are starting at 0 
                y.AmpEnableSet(false);                                                           // Enable the motor.

                z.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                z.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                z.DefaultAccelerationSet(ACCELERATION);
                z.DefaultDecelerationSet(DECELERATION);
                z.Abort();                                                                       // If there is any motion happening, abort it.
                z.ClearFaults();                                                                 // Clear faults.
                z.AmpEnableSet(true);                                                            // Enable the motor.


                // Initalize the Compensator
                controller.CompensatorConfigSet(COMPENSATOR_NUM, x, RSIAxisMasterType.RSIAxisMasterTypeAXIS_ACTUAL_POSITION, X_MIN, X_MAX, X_DELTA, y, RSIAxisMasterType.RSIAxisMasterTypeAXIS_ACTUAL_POSITION, Y_MIN, Y_MAX, Y_DELTA, z, RSICompensatorOutputType.RSICompensatorOutputTypeSINGLE, TABLE);

                Console.WriteLine("\nCompensator Configured\n");

                while (!Console.KeyAvailable)
                {
                    z.CompensationPositionGet();
                    Console.WriteLine("Compensator Output: " + z.CompensationPositionGet());
                }
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);                                                       // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}