axis-motion-modify.cs

Note

See Motion: Modify 📜 for a detailed explanation of this sample code.

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.

/*  This sample demonstrates how to modify motion in-flight using feed rate and velocity changes.
    Shows how to use FeedRate to adjust speed, reverse motion, and change velocity mid-motion.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 Axis Motion: Modify");
 
int exitCode = 0;
 
// set sample config params
const double POSITION = 10;
const double VELOCITY = 3;
const double ACCELERATION = 10;
const double DECELERATION = 10;
const double JERK_PERCENT = 50;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);
 
 
    /*
    ┌───────────┐
    │ FEED RATE │
    └───────────┘
    */
    Console.WriteLine("\n1. Feed Rate");

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    // start motion
    axis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
    Console.WriteLine($"\tPosition commanded: {POSITION}");
 
    // set feedrate to 150%
    axis.FeedRateSet(1.5);
    
    // wait here until we reach position 5
    while (axis.CommandPositionGet() < 5)
        Thread.Sleep(10);
 
    // stop motion
    axis.Stop();  
    axis.MotionDoneWait();  
    Console.WriteLine($"\tPosition after FeedRate (1.5): {axis.CommandPositionGet()}");
    
    // set feedrate to reverse motion (-100%)
    axis.FeedRateSet(-1);
    
    // resume motion for a bit
    axis.Resume();  
    Thread.Sleep(500);
    Console.WriteLine($"\tPosition after FeedRate (-1): {axis.CommandPositionGet()}");
 
    // restore feedrate (100%)
    axis.FeedRateSet(1);
 
    // wait for motion done
    axis.MotionDoneWait();    
    Console.WriteLine($"\tPosition after FeedRate (1): {axis.CommandPositionGet()} (expected: {POSITION})");
 
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
    axis.PositionSet(0);  // reset position
 
 
    /*
    ┌──────────────────────┐
    │ CHANGE MOTION SPEED  │
    └──────────────────────┘
    */
    Console.WriteLine("\n2. Change Motion Speed");

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    
    // start motion
    axis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
    Console.WriteLine($"\tPosition commanded: {POSITION}");
 
    // wait until position > 5
    while (axis.CommandPositionGet() < 5)
        Thread.Sleep(10);
    
    Console.WriteLine($"\tPosition before speed change: {axis.CommandPositionGet()}");
 
    // modify motion to go 10x faster 
    axis.MoveSCurve(POSITION, VELOCITY * 10, ACCELERATION, DECELERATION, JERK_PERCENT);
 
    // wait for motion done
    axis.MotionDoneWait();
    
    Console.WriteLine($"\tFinal position: {axis.CommandPositionGet()} (expected: {POSITION})");
 
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
 
    Helpers.AbortMotionObject(axis);
    axis.PositionSet(0);
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;