Gearing sample application.
Axis gearing on the XMP is based off of a Axis, RSIAxisMasterType, numerator, and denominator.
The Axis points to a master axis to gear to.
The RSIAxisMasterType specifies what feedback source to gear to. The ratio between the lead and follower axes is set by a ratio of two longs – a numerator and a denominator.
- 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.
#include "rsi.h"
#include "HelperFunctions.h"
using namespace RSI::RapidCode;
void GearingMain()
{
const int MASTER_AXIS = 0;
const int SLAVE_AXIS = 1;
const int USER_UNITS = 1048576;
const int POSITION1 = 50;
const int POSITION2 = 0;
const double VELOCITY = 10;
const double ACCELERATION = 100;
const double DECELERATION = 100;
const double JERK_PERCENT = 50;
char rmpPath[] = "C:\\RSI\\X.X.X\\";
SampleAppsCPP::HelperFunctions::CheckErrors(controller);
try
{
SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);
SampleAppsCPP::HelperFunctions::CheckErrors(master);
SampleAppsCPP::HelperFunctions::CheckErrors(slave);
printf("Gearing Example");
int numerator = 2;
int denominator = 1;
numerator,
denominator);
printf("\nTesting for Gearing Ratio %i/%i\n", numerator, denominator);
VELOCITY,
ACCELERATION,
DECELERATION,
JERK_PERCENT);
numerator = -1;
denominator = 1;
printf("\nTesting for Gearing Ratio %i/%i\n", numerator, denominator);
VELOCITY,
ACCELERATION,
DECELERATION,
JERK_PERCENT);
printf("\nDisable Gearing\n");
printf("\nTest Complete\n");
}
{
printf(
"%s\n", err.
text);
}
system("pause");
}