axis-motion-point-to-point.cs

Note

See Motion: Point-to-Point 📜 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 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");
 
int exitCode = 0;
 
// set sample config params
const double POSITION = 10;
const double VELOCITY = 10;
const double ACCELERATION = 20;
const double DECELERATION = 20;
const double JERK_PERCENT = 50;
const double FINAL_VELOCITY = 5;
 
// 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);
    axis.PositionSet(0);
 
 
    /*
    ┌──────────┐
    │ ABSOLUTE │
    └──────────┘
    */
    Console.WriteLine("\n1. Absolute Motion");

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    axis.MoveTrapezoidal(POSITION, VELOCITY, ACCELERATION, DECELERATION);
    axis.MotionDoneWait();  // wait for motion to complete
    Console.WriteLine($"   CommandPosition after absolute motion: {axis.CommandPositionGet()} (expected: {POSITION})");
 
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
    axis.PositionSet(0);
 
    /*
    ┌─────────┐
    │ S-CURVE │
    └─────────┘
    */
    Console.WriteLine("\n2. S-Curve Motion");

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    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})");
 
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
    axis.PositionSet(0);
 
    /*
    ┌──────────┐
    │ RELATIVE │
    └──────────┘
    */
    Console.WriteLine("\n3. Relative Motion");

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    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)");
 
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
    axis.PositionSet(0);
 
    /*
    ┌────────────────┐
    │ FINAL VELOCITY │
    └────────────────┘
    */
    Console.WriteLine("\n4. Final Velocity Motion");

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    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})");
 
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
    axis.Stop();
    axis.MotionDoneWait();
    axis.Abort();
    axis.ClearFaults();
    axis.PositionSet(0);
 
    /*
    ┌──────────┐
    │ VELOCITY │
    └──────────┘
    */
    Console.WriteLine("\n5. Velocity Motion");
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    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}) ");
    
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);  // reset
    axis.Stop();
    axis.MotionDoneWait();
    Helpers.AbortMotionObject(axis);
 
    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;