axis-motion-streaming-pt-whilestopping.cs

/*  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");
 
// 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);
 
    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);
 
    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)
 
    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);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}