Gearing.cs

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.

using RSI.RapidCode.dotNET;                 // Import our RapidCode Library
using RSI.RapidCode.dotNET.Enums;
using System;

namespace SampleAppsCS
{
    class Gearing
    {
        static void Main(string[] args)
        {
            // Constants
            const int MASTER_AXIS = 0;         // Specify which axis will be the master axis
            const int SLAVE_AXIS = 1;          // Specify which axis will be the slave axis
            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) 
            const int POSITION1 = 50;          // Specify the position to travel to.
            const int POSITION2 = 0;           // Specify the position to travel to.
            const double VELOCITY = 10;        // Specify your velocity - units: units/sec     (it will do (1048576*10)counts/10-revolutions every 1 second.)
            const double ACCELERATION = 100;   // Specify your acceleration - units: units/sec^2
            const double DECELERATION = 100;   // Specify your deceleration - units: units/sec^2
            const double JERK_PERCENT = 50;    // Specify your jerk percentage

            // 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.

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

            Axis master = controller.AxisGet(MASTER_AXIS);                                      // Initialize master Class. (Use RapidSetup Tool to see what is your axis number)
            Axis slave = controller.AxisGet(SLAVE_AXIS);                                        // Initialize slave Class.

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

            try
            {
                controller.AxisCountSet(2);                                                     // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.

                master.UserUnitsSet(USER_UNITS);                                                // Specify the counts per Unit.
                master.ErrorLimitTriggerValueSet(1);                                            // Specify the position error limit trigger. (Learn more about this on our support page)
                slave.UserUnitsSet(USER_UNITS);
                slave.ErrorLimitTriggerValueSet(1);
                slave.ErrorLimitActionSet(RSIAction.RSIActionNONE);                             // If NOT using a Phantom Axis, switch to RSIActionABORT

                master.Abort();                                                                 // If there is any motion happening, abort it.
                slave.Abort();

                master.ClearFaults();                                                           // Clear faults.
                slave.ClearFaults();

                master.AmpEnableSet(true);                                                      // Enable the motor.
                slave.AmpEnableSet(true);

                master.PositionSet(0);                                                          // Zero the position (in case the program is run multiple times)
                slave.PositionSet(0);                                                           // this negates homing, so only do it in test/sample code.

                Console.WriteLine("Gearing Example");

                int numerator = 2;                                                              // Specify the numerator of the gearing ratio.
                int denominator = 1;                                                            // Specify the denominator of the gearing ratio.

                // Configure the 'slave' axis to be a slave to the 'master' axis at a ratio of 2:1, that is,
                // for every rotation of the master axis, the slave axis will rotate twice.
                slave.GearingEnable(master,
                                    RSIAxisMasterType.RSIAxisMasterTypeAXIS_COMMAND_POSITION,    // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
                                    numerator,
                                    denominator);

                Console.WriteLine("\nTesting for Gearing Ratio {0}/{1}\n", numerator, denominator);

                master.MoveSCurve(POSITION1,
                                    VELOCITY,
                                    ACCELERATION,
                                    DECELERATION,
                                    JERK_PERCENT);                                              // Perform a S-curve motion on the master axis.

                master.MotionDoneWait();                                                        // Wait for motion to finish.

                // Test changing the gearing ratio to -1:1, that is,
                // for every rotation of the master axis, the slave axis will rotate once in the opposite direction
                numerator = -1;
                denominator = 1;

                slave.GearingRatioChange(numerator, denominator);                               // Change the electronic gearing ratio

                Console.WriteLine("\nTesting for Gearing Ratio {0}/{1}\n", numerator, denominator);

                master.MoveSCurve(POSITION2,                                                        // New Position.
                                    VELOCITY,
                                    ACCELERATION,
                                    DECELERATION,
                                    JERK_PERCENT);                                              // Perform a S-curve motion on the master axis again.

                master.MotionDoneWait();                                                        // Wait for motion to finish.

                Console.WriteLine("\nDisable Gearing\n");

                slave.GearingDisable();                                                         // Disable gearing on the slave.
                master.AmpEnableSet(true);                                                      // Disable the motor.
                slave.AmpEnableSet(true);

                Console.WriteLine("\nTest Complete\n");
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                               // Allow time to read Console.
            Console.ReadKey();
        }
    }
}