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"
#include "HelperFunctions.h"
void RelativeMotionMain()
{
using namespace RSI::RapidCode;
const int AXIS_NUMBER = 0;
const int RELATIVE_POSITION1 = 25;
const int RELATIVE_POSITION2 = -50;
const int USER_UNITS = 1048576;
const int VELOCITY = 10;
const int ACCELERATION = 100;
const int DECELERATION = 100;
const int JERK_PCT = 50;
char rmpPath[] = "C:\\RSI\\X.X.X\\";
SampleAppsCPP::HelperFunctions::CheckErrors(controller);
try
{
SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);
SampleAppsCPP::HelperFunctions::CheckErrors(axis);
printf("Relative Move1\n\n");
printf("Relative Move: Completed\n\n");
}
{
printf(
"\n%s\n", err.
text);
}
system("pause");
}