Single-Axis Motion complete code
This page contains the complete code of Single-Axis Motion.
In SingleAxisMotion.cpp, your Single-Axis Motion code should be as follows:
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#include "RT_Project_01.h"
#include "AxisConfiguration.h"
#include "SingleAxisMotion.h"
using namespace std;
VOID GetAnAxisState(int& Index);
VOID GetAnAxisPosition(int& Index);
VOID GetAnAxisVelocity(int& Index);
BOOL EnableAxis(int Index)
{
//Reset an alarm.
KsCommandStatus status = WaitForCommand(5, TRUE, ResetAxis(Index));
if (status.Error)
{
RtPrintf("ResetAxis failed: %d\n", status.ErrorId);
return FALSE;
}
//Enable an axis. You can limit the direction the axis moves.
status = WaitForCommand(5, TRUE, PowerAxis(Index, TRUE, TRUE, TRUE));
if (status.Error)
{
RtPrintf("PowerAxis failed: %d\n", status.ErrorId);
return FALSE;
}
RtPrintf("Enable Axis %d.\n\n", Index);
return TRUE;
}
BOOL DisableAxis(int Index)
{
//Disable an axis.
KsCommandStatus status = WaitForCommand(5, TRUE, PowerAxis(Index, FALSE, TRUE, TRUE));
if (status.Error)
{
RtPrintf("PowerAxis failed: %d\n", status.ErrorId);
return FALSE;
}
RtPrintf("Disable Axis %d.\n\n", Index);
return TRUE;
}
VOID MoveAbsolute(int Index, double Target)
{
RtPrintf("Make an absolute move.\n\n");
//Start an absolute move.
KsCommandStatus status = WaitForCommand(30, TRUE, MoveAxisAbsolute(Index, Target, MAXIMUM_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcPositiveDirection, mcAborting));
if (status.Error)
RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);
//Wait a few cycles to get the correct end positions.
Sleep(5);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID MoveContinuousAbsolute(int Index, double Target)
{
RtPrintf("Make a continuous absolute move.\n\n");
//Start a continuous absolute move.
KsCommandStatus status = MoveAxisContinuousAbsolute(Index, Target, MAXIMUM_VELOCITY, END_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcPositiveDirection, mcAborting);
if (status.Error)
RtPrintf("MoveContinuousAbsolute failed: %d\n", status.ErrorId);
Sleep(6000);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID MoveRelative(int Index, double Distance)
{
RtPrintf("Make a relative move.\n\n");
//Start a relative move.
KsCommandStatus status = WaitForCommand(30, TRUE, MoveAxisRelative(Index, Distance,
MAXIMUM_VELOCITY, MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcAborting));
if (status.Error)
RtPrintf("MoveAxisRelative failed: %d\n", status.ErrorId);
//Wait a few cycles to get the correct end positions.
Sleep(5);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID MoveContinuousRelative(int Index, double Distance)
{
RtPrintf("Make a continuous relative move.\n\n");
//Start a continuous relative move.
KsCommandStatus status = MoveAxisContinuousRelative(Index, Distance, MAXIMUM_VELOCITY,
END_VELOCITY, MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcAborting);
if (status.Error)
RtPrintf("MoveContinuousRelative failed: %d\n", status.ErrorId);
Sleep(6000);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID MoveAdditive(int Index, double Distance)
{
RtPrintf("Make an additional move.\n\n");
//Start an additive move.
KsCommandStatus status = WaitForCommand(30, FALSE, MoveAxisAdditive(Index, Distance,
MAXIMUM_VELOCITY, MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcAborting));
if (status.Error)
RtPrintf("MoveAxisAdditive failed: %d\n", status.ErrorId);
//Wait a few cycles to get the correct end positions.
Sleep(5);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID Halt(int Index)
{
//Give some time for the axis to be halted.
KsCommandStatus status = WaitForCommand(5, FALSE, HaltAxis(Index, MAXIMUM_DECELERATION,
MAXIMUM_JERK, mcAborting));
if (status.Error)
RtPrintf("HaltAxis failed: %d\n", status.ErrorId);
RtPrintf("Halt Axis %d.\n\n", Index);
}
VOID Stop(int Index)
{
//Give some time for the axis to be stopped.
KsCommandStatus status = WaitForCommand(5, FALSE, StopAxis(Index, MAXIMUM_DECELERATION, MAXIMUM_JERK));
if (status.Error)
RtPrintf("StopAxis failed: %d\n", status.ErrorId);
RtPrintf("Stop Axis %d.\n\n", Index);
//Get the state of the axis. The axis should be in the Stopping state.
GetAnAxisState(Index);
//Release the axis from the Stopping state.
RtPrintf("Release the axis from the Stopping state.\n\n");
KsError error = ReleaseAxis(Index);
if (error != errNoError)
RtPrintf("ReleaseAxis failed: %x\n", error);
//Give some time for the axis state to be changed, and get the state again.
Sleep(5);
GetAnAxisState(Index);
}
VOID Jog(int Index)
{
RtPrintf("Make a jog move.\n\n");
//Start a jog move.
KsCommandStatus status = JogAxis(Index, MAXIMUM_VELOCITY, MAXIMUM_ACCELERATION,
MAXIMUM_DECELERATION, MAXIMUM_JERK, mcNegativeDirection);
if (status.Error)
RtPrintf("JogAxis failed: %d\n", status.ErrorId);
//Let the axis moves for a while.
Sleep(5000);
GetAnAxisVelocity(Index);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID Inch(int Index, double Distance)
{
RtPrintf("Make an inch move.\n\n");
//Start an inch move.
KsCommandStatus status = WaitForCommand(30, TRUE, InchAxis(Index, Distance, MAXIMUM_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcPositiveDirection));
if (status.Error)
RtPrintf("InchAxis failed: %d\n", status.ErrorId);
//Wait a few cycles to get the correct end positions.
Sleep(5);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID Velocity(int Index)
{
RtPrintf("Make a velocity move.\n\n");
//Start a velocity move.
KsCommandStatus status = MoveAxisVelocity(Index, MAXIMUM_VELOCITY, MAXIMUM_ACCELERATION,
MAXIMUM_DECELERATION, MAXIMUM_JERK, mcNegativeDirection, mcAborting);
if (status.Error)
RtPrintf("MoveAxisVelocity failed: %d\n", status.ErrorId);
//Let the axis moves for a while.
Sleep(6000);
GetAnAxisVelocity(Index);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID QueueSample01(int Index, double Distance1, double Distance2)
{
RtPrintf("Queue sample: send commands one by one.\n\n");
/*-----First motion command-----*/
//Start a relative move.
RtPrintf("Make a relative move.\n");
KsCommandStatus status = WaitForCommand(30, FALSE, MoveAxisRelative(Index, Distance1,
MAXIMUM_VELOCITY, MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcAborting));
if (status.Error)
RtPrintf("MoveAxisRelative failed: %d\n", status.ErrorId);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
/*-----Second motion command-----*/
//Start an additive move.
RtPrintf("Make an additive move.\n");
status = WaitForCommand(30, FALSE, MoveAxisAdditive(Index, Distance2, MAXIMUM_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcAborting));
if (status.Error)
RtPrintf("MoveAxisAdditive failed: %d\n", status.ErrorId);
//Wait a few cycles to get the correct end positions.
Sleep(5);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID QueueSample02(int Index, double Target, double Distance1, double Distance2)
{
RtPrintf("Queue sample: send a sequence of commands.\n\n");
/*-----Send motion commands to a queue with mcBuffered-----*/
//The first command's BufferMode can be set to any buffer mode.
//Start an absolute move.
RtPrintf("Make an absolute move.\n");
KsCommandStatus move1 = MoveAxisAbsolute(Index, Target, MAXIMUM_VELOCITY, MAXIMUM_ACCELERATION,
MAXIMUM_DECELERATION, MAXIMUM_JERK, mcNegativeDirection, mcAborting);
if (move1.Error)
RtPrintf("MoveAxisAbsolute failed: %d\n", move1.ErrorId);
//Start a relative move.
RtPrintf("Make a relative move.\n");
KsCommandStatus move2 = MoveAxisRelative(Index, Distance1, MAXIMUM_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcBuffered);
if (move2.Error)
RtPrintf("MoveAxisRelative failed: %d\n", move2.ErrorId);
//Start an additive move.
RtPrintf("Make an additive move.\n\n");
KsCommandStatus move3 = MoveAxisAdditive(Index, Distance2, MAXIMUM_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcBuffered);
if (move3.Error)
RtPrintf("MoveAxisAdditive failed: %d\n\n", move3.ErrorId);
/*-----Give some time for the motion commands to finish their work-----*/
/*Wait MoveAxisAbsolute to be completed.*/
move1 = WaitForCommand(30, TRUE, move1);
if (move1.Error)
RtPrintf("MoveAxisAbsolute failed: %d\n", move1.ErrorId);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
/*Wait MoveAxisRelative to be completed.*/
move2 = WaitForCommand(30, TRUE, move2);
if (move2.Error)
RtPrintf("MoveAxisRelative failed: %d\n", move2.ErrorId);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
/*Wait MoveAxisAdditive to be completed.*/
move3 = WaitForCommand(30, TRUE, move3);
if (move3.Error)
RtPrintf("MoveAxisAdditive failed: %d\n", move3.ErrorId);
//Wait a few cycles to get the correct end positions.
Sleep(5);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID Blending(int Index, double Distance, double Target)
{
RtPrintf("Blend velocity.\n\n");
/*-----First motion command-----*/
//Start a relative move.
//The first command's BufferMode can be set to any buffer mode.
RtPrintf("Make a relative move.\n\n");
KsCommandStatus status = MoveAxisRelative(Index, Distance, MAXIMUM_VELOCITY,
MAXIMUM_ACCELERATION, MAXIMUM_DECELERATION, MAXIMUM_JERK, mcAborting);
if (status.Error)
RtPrintf("MoveAxisRelative failed: %d\n", status.ErrorId);
Sleep(3000);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
/*-----Second motion command-----*/
//The blending mode decides how the previous and this command's velocity is blended.
RtPrintf("Make an absolute move.\n\n");
status = MoveAxisAbsolute(Index, Target, 2000, 20000, 20000, 2000000,
mcPositiveDirection, mcBlendingLow);
if (status.Error)
RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);
Sleep(3000);
RtPrintf("End position:\n");
GetAnAxisPosition(Index);
}
VOID SetAxisStartingPosition(int Index)
{
//Set the starting positions.
double setPosition = 0;
KsCommandStatus Position = WaitForCommand(5, FALSE, SetAxisPositionOffset(Index,
setPosition, FALSE, mcImmediately));
if (Position.Error)
RtPrintf("SetAxisPositionOffset failed: %d\n\n", Position.ErrorId);
//Wait a few cycles for the set position to be set.
Sleep(5);
GetAnAxisPosition(Index);
}
VOID GetAnAxisState(int& Index)
{
//Display the state of an axis in string.
string axisState[10] = { "axisOffline", "axisCommunicationError", "axisMotionError",
"axisDisabled", "axisLocked", "axisStandStill", "axisHoming", "axisDiscreteMotion",
"axisContinuousMotion", "axisSynchronizedMotion" };
AxisState state = axisOffline;
KsError nRet = GetAxisState(Index, &state);
if (nRet != errNoError)
RtPrintf("GetAxisState failed: %x\n", nRet);
else if (nRet == errNoError)
{
for (int i = 0; i < 10; i++)
{
if (state == i)
{
RtPrintf("The current axis state is %s.\n\n", axisState[i].c_str());
break;
}
}
}
}
VOID GetAnAxisPosition(int& Index)
{
//Display the end position of an axis.
double setPosition = 0;
double actualPosition = 0;
KsError nRet = errNoError;
//Get the set position of the axis.
nRet = GetAxisPosition(Index, mcSetValue, &setPosition);
if (nRet != errNoError)
RtPrintf("Unable to get the set position: %x\n", nRet);
//Get the actual position of the axis.
nRet = GetAxisPosition(Index, mcActualValue, &actualPosition);
if (nRet != errNoError)
RtPrintf("Unable to get the actual position: %x\n", nRet);
printf("Set position: %f, Actual position: %f\n\n", setPosition, actualPosition);
}
VOID GetAnAxisVelocity(int& Index)
{
//Display the velocity of an axis.
double velocity = 0;
KsError nRet = errNoError;
nRet = GetAxisVelocity(Index, mcActualValue, &velocity);
if (nRet != errNoError)
RtPrintf("GetAxisVelocity failed: %x\n", nRet);
printf("Velocity: %f\n\n", velocity);
}