MotionController Axis MultiAxis IO IOPoint NetworkNode RsiError
Sample Apps Changelog

RapidCode API

IOwithAKD.cpp

AKD IO sample application.

This sample turns on and off a digital output on an AKD drive.

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.
#include "rsi.h" // Import our RapidCode Library.
#include "HelperFunctions.h" // Import our SampleApp helper functions.
void IOwithAKDMain()
{
using namespace RSI::RapidCode;
// Constants
const int AXIS_NUMBER = 0; // Specify which axis/motor to control.
const int NODE_INDEX = 0; // The EtherCAT Node we will be communicating with
const int OUTPUT_INDEX = 0;
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.
IOPoint *output0 = IOPoint::CreateDigitalOutput(controller->IOGet(NODE_INDEX), OUTPUT_INDEX); // Automatically gets the memory index of a specified node and input index
system("pause");
output0->Set(0);
system("pause");
output0->Set(1);
system("pause");
output0->Set(0);
system("pause");
output0->Set(1);
}
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.
}