Settle Criteria sample application.
Configure the following characteristicpp for axis:
1) Fine Position Tolerance 2) Coarse Position Tolerance 3) Velocity Tolerance 4) Settling Time Tolerance
Once you execute this sample application, changes in values can be verified from RapidSetup in the "Position and Trajectory Status."
- 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;
const int AXIS_NUMBER = 0;
const int POSITION_TOLERANCE_FINE = 200;
const int POSITION_TOLERANCE_COARSE = 300;
const int VELOCITY_TOLERANCE = 12000;
const int SETTLING_TIME = 5;
void PrintResult(
Axis *axis,
char * Vals)
{
printf("\r%s", Vals);
}
void settleCriteriaMain()
{
try
{
SampleAppsCPP::HelperFunctions::CheckErrors(controller);
axis = controller->
AxisGet(AXIS_NUMBER);
SampleAppsCPP::HelperFunctions::CheckErrors(axis);
PrintResult(axis, "OLD VALUES \n------------");
PrintResult(axis, "NEW Values \n------------");
}
{
printf(
"\n%s\n", err.
text);
}
system("pause");
}