MotionModify.cs

 
using NUnit.Framework;
using System;
using System.Threading;
 
[TestFixture]
[Category("Software")]
class MotionModify : SampleAppTestBase
{
  [Test] // Timeout(Constants.MAX_TEST_TIME)
  public void FeedRate()
  {
    Console.WriteLine("Start Motion");
    axis.MoveSCurve(100);                      // Call MoveScurve to move to a position.
                                               // set feedrate for axis to 150% 
    axis.FeedRateSet(1.5);
    while (axis.CommandPositionGet() < 5)
    { 
      Thread.Sleep(1);                         // Wait here until we reach position "15".
    }
 
    axis.Stop();                               // Stop the axis/motor.
    axis.MotionDoneWait();                     // Wait for move to complete.
    axis.FeedRateSet(-1);                      // Change FeedRate to reverse motion.
    axis.Resume();                             // Start Reverse Motion.
 
    Console.WriteLine("New Feed Rate Start");
   
    axis.FeedRateSet(1);                       //restore default
  }
 
  public void ChangeMotionSpeed()
  {
    axis.MoveSCurve(20, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
      
    if (axis.CommandPositionGet() > 2)
    {
      // Go 10X faster
      axis.MoveSCurve(20, Constants.VELOCITY * 10, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
    }
  }
}