axis-motion-streaming-pt-whilestopping.cs

Note

See Motion: Streaming 📜 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.

/*  Demonstrates how to handle PT streaming motion when stopping.
    Shows the difference between Stop/Resume to continue appending points,
    versus starting fresh motion after stopping.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PT While Stopping");
 
int exitCode = 0;
 
// 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);  // start at position 0

    const int points = 3;                 // points per streaming motion call
    const int emptyCount = 2;             // e-stop generated if there are this number or fewer frames loaded
 
    double[] first  = [0.1, 0.2, 0.3];    // positions for first MovePT call
    double[] second = [0.4, 0.5, 0.6];    // positions for second MovePT call
    double[] third  = [0.7, 0.8, 0.9];    // positions for third MovePT call
 
    double[] time1 = [0.3, 0.3, 0.3];     // time deltas for first MovePT call
    double[] time2 = [0.2, 0.2, 0.2];     // time deltas for second MovePT call
    double[] time3 = [0.25, 0.25, 0.25];  // time deltas for third MovePT call
 
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    axis.MovePT(RSIMotionType.RSIMotionTypePT, first, time1, points, emptyCount, false, false);   // start motion and stream points
    axis.MovePT(RSIMotionType.RSIMotionTypePT, second, time2, points, emptyCount, false, false);  // append points
 
    // after Stop() on streaming motion, you can:
    // 1. Resume() to continue appending points to existing motion
    // 2. Discard previous points and start new motion
 
    axis.Stop();                                // puts axis in STOPPED state
    // axis.EStop();                            // puts axis in ERROR state (must ClearFaults() before continuing)
    // axis.Abort();                            // puts axis in ERROR state and triggers AmpEnable(false) (must call AmpEnable(true) before continuing)
    Console.WriteLine("Motion stopped.");
 
    axis.MotionDoneWait();                      // wait for axis to stop
    axis.Resume();                              // resume appends next points to existing motion, without Resume(), new points start fresh motion
 
    // append or start new based on Resume() call
    axis.MovePT(RSIMotionType.RSIMotionTypePT, third, time3, points, emptyCount, false, true);    
 
    // wait for motion to complete
    axis.MotionDoneWait();
    Console.WriteLine($"Final position: {axis.CommandPositionGet()}");
    
    // cleanup
    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;