- Attention
- See the following Concept pages for a detailed explanation of this sample: Feed Rate, SCurve Motion.
- Warning
- This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.
The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.
using NUnit.Framework;
using System;
using System.Threading;
[TestFixture]
[Category("Software")]
class MotionModify : SampleAppTestBase
{
[Test]
public void FeedRate()
{
Console.WriteLine("Start Motion");
{
Thread.Sleep(1);
}
Console.WriteLine("New Feed Rate Start");
}
public void ChangeMotionSpeed()
{
axis.
MoveSCurve(20, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
{
axis.
MoveSCurve(20, Constants.VELOCITY * 10, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
}
}
}
double CommandPositionGet()
Get the current command position.
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
Command a point-to-point S-Curve motion.
int32_t MotionDoneWait()
Waits for a move to complete.
void Resume()
Resume an axis.
void FeedRateSet(double rate)
Set the feed rate for an Axis.