axis-motion-point-to-point.cs

/*  This sample demonstrates various point-to-point motion commands for single axis motion.
    Shows trapezoidal, S-curve, relative, final velocity, and velocity motion profiles.
    Each motion command is followed by MotionDoneWait() to ensure completion before proceeding.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 Axis Motion: Point to Point");
 
// 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;
const double FINAL_VELOCITY = 5;
 
// 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);
 
 
    /*
    ┌──────────┐
    │ ABSOLUTE │
    └──────────┘
    */
    Console.WriteLine("\n1. Absolute Motion");
 
    axis.AmpEnableSet(true);
    axis.MoveTrapezoidal(POSITION, VELOCITY, ACCELERATION, DECELERATION);
    axis.MotionDoneWait();  // wait for motion to complete
    Console.WriteLine($"   CommandPosition after absolute motion: {axis.CommandPositionGet()} (expected: {POSITION})");
 
    Helpers.PhantomAxisReset(axis);  // reset
 
 
    /*
    ┌─────────┐
    │ S-CURVE │
    └─────────┘
    */
    Console.WriteLine("\n2. S-Curve Motion");
 
    axis.AmpEnableSet(true);
    axis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
    axis.MotionDoneWait();  // wait for motion to complete
    Console.WriteLine($"   CommandPosition after s-curve motion: {axis.CommandPositionGet()} (expected: {POSITION})");
 
    Helpers.PhantomAxisReset(axis);  // reset
 
 
    /*
    ┌──────────┐
    │ RELATIVE │
    └──────────┘
    */
    Console.WriteLine("\n3. Relative Motion");
 
    axis.AmpEnableSet(true);
    axis.MoveRelative(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
    axis.MotionDoneWait();  // wait for motion to complete
 
    // move back to start using negative relative motion
    axis.MoveRelative(-POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT);
    axis.MotionDoneWait();  // wait for motion to complete
    Console.WriteLine($"   CommandPosition after relative motion: {axis.CommandPositionGet()} (expected: 0)");
 
    Helpers.PhantomAxisReset(axis);  // reset
 
 
    /*
    ┌────────────────┐
    │ FINAL VELOCITY │
    └────────────────┘
    */
    Console.WriteLine("\n4. Final Velocity Motion");
 
    axis.AmpEnableSet(true);
    axis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT, FINAL_VELOCITY);  // axis continues at final velocity after reaching position
 
    // wait until axis transitions to final velocity
    while (axis.StatusBitGet(RSIEventType.RSIEventTypeMOTION_AT_VELOCITY) == false)
        Thread.Sleep(100);
 
    Console.WriteLine($"   CommandVelocity after final velocity motion: {axis.CommandVelocityGet()} (expected: {FINAL_VELOCITY})");
 
    Helpers.PhantomAxisReset(axis);  // reset
 
 
    /*
    ┌──────────┐
    │ VELOCITY │
    └──────────┘
    */
    Console.WriteLine("\n5. Velocity Motion");
    axis.AmpEnableSet(true);
    axis.MoveVelocity(VELOCITY, ACCELERATION);  // move at constant velocity
    
    // wait until axis reaches target position, then stop
    while (axis.CommandPositionGet() < POSITION)
        Thread.Sleep(100);
    
    Console.WriteLine($"   CommandVelocity after velocity motion: {axis.CommandVelocityGet()} (expected: {VELOCITY}) ");
    
    Helpers.PhantomAxisReset(axis);  // reset
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}