RelativeMotion.cpp

Relative Motion sample application.

This sample application moves a single axis in trapezoidal profile to a relative distance set by RELATIVE_POSITION below. For a simple trapezoidal motion profile using'Absolute move' please see motion1_absolute.cpp

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" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 

void RelativeMotionMain()
{
    using namespace RSI::RapidCode;

    // Constants
    const int AXIS_NUMBER = 0;              // Specify which axis/motor to control
    const int RELATIVE_POSITION1 = 25;      // Specify the first relative position to move to
    const int RELATIVE_POSITION2 = -50;     // Specify the second relative position to move to
    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 VELOCITY = 10;                // Specify your velocity - units: Units/Sec     (it will do "1048576 counts / 1 motor revolution" per second)
    const int ACCELERATION = 100;           // Specify your acceleration - units: Units/Sec^2
    const int DECELERATION = 100;           // Specify your deceleration - units: Units/Sec^2
    const int JERK_PCT = 50;                // Specify your jerk percent - units: Units/Sec^2

    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.

        axis->UserUnitsSet(USER_UNITS);                                         // Specify the counts per Unit.
        axis->ErrorLimitTriggerValueSet(1);                                     // Set the position error trigger value
        axis->Abort();                                                          // If there is any motion happening, abort it.
        axis->ClearFaults();                                                    // Clear faults.
        axis->AmpEnableSet(true);                                               // Enable the motor.

        // Set Motion Profile Defaults.
        axis->DefaultVelocitySet(VELOCITY);                                     // Set axis Velocity
        axis->DefaultAccelerationSet(ACCELERATION);                             // Set axis Acceleration
        axis->DefaultDecelerationSet(DECELERATION);                             // Set axis Deceleration
        axis->DefaultJerkPercentSet(JERK_PCT);                                  // Set axis Jerk 

        printf("Relative Move1\n\n");
        axis->MoveRelative(RELATIVE_POSITION1);                                 // Start the motion

        axis->MotionDoneWait();                                                 // Wait for motion to be completed.

        printf("Relative Move: Completed\n\n");
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    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.
}