Path Motion sample application.
This sample app will command a path motion for two axis with different points and desired velocity, acceleration and deceleration specified by user.
Different positions have to be secified within 'PathListStart' and 'PathListEnd' using function 'PathLineAdd' where the coordinates are declared in line_A, line_B and etc.
Function 'PathRatioSet(ratio)' is used to define different ratios between the two different drive's encoder resolution. As the name 'PathMotionStart' suggests will simply execute motion for axes.
- 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 pathMotionMain()
{
const int AXIS_X = 0;
const int AXIS_Y = 1;
double line_A[2] = { 0, 1000 };
double line_B[2] = { 1000,1000 };
double line_C[2] = { 1000, 0 };
double line_D[2] = { 0, 0 };
double arc_center[2] = { 1000,1000 };
SampleAppsCPP::HelperFunctions::CheckErrors(controller);
try
{
SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);
axisX = controller->
AxisGet(AXIS_X);
SampleAppsCPP::HelperFunctions::CheckErrors(axisX);
axisY = controller->
AxisGet(AXIS_Y);
SampleAppsCPP::HelperFunctions::CheckErrors(axisY);
SampleAppsCPP::HelperFunctions::CheckErrors(multiAxisXY);
}
{
printf(
"\n%s\n", err.
text);
}
system("pause");
}