axis-motion-modify.cs

/*  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");
 
// set sample config params
const double POSITION = 10;
const double VELOCITY = 10;
const double ACCELERATION = 100;
const double DECELERATION = 100;
const double JERK_PERCENT = 50;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    Helpers.PhantomAxisReset(axis);
 
 
    /*
    ┌───────────┐
    │ FEED RATE │
    └───────────┘
    */
    Console.WriteLine("\n1. Feed Rate");
 
    axis.AmpEnableSet(true);
 
    // start motion
    axis.MoveSCurve(POSITION);
    Console.WriteLine($"\tPosition commanded: {POSITION}");
 
    // set feedrate to 150%
    axis.FeedRateSet(1.5);
    
    // wait here until we reach position 10
    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})");
 
    Helpers.PhantomAxisReset(axis);  // reset
 
 
    /*
    ┌──────────────────────┐
    │ CHANGE MOTION SPEED  │
    └──────────────────────┘
    */
    Console.WriteLine("\n2. Change Motion Speed");
 
    axis.AmpEnableSet(true);
    
    // start motion
    axis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
 
    // wait until position > 5
    while (axis.CommandPositionGet() < 5)
        Thread.Sleep(10);
    
    // 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})");
 
    Helpers.PhantomAxisReset(axis);  // reset
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}