axis-motion-streaming-pt.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 PT (Position-Time) streaming motion.
    PT motion is the simplest streaming motion requiring only position and time arrays.
    The controller calculates velocity and acceleration for each segment.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PT");
 
int exitCode = 0;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);
 
    int points = 3;                             // total number of streamed points
    int emptyCount = 2;                         // e-stop generated if there are this number or fewer frames loaded
 
    double[] positions = [1.0, 0.5, 0.75];      // positions to reach
    double[] times = [1, 0.5, 2];               // time deltas for each position (velocity and acceleration calculated by RMP)
 
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    
    axis.MovePT(RSIMotionType.RSIMotionTypePT,  // type of PT motion (RSIMotionTypePT, RSIMotionTypeBSPLINE, RSIMotionTypeBSPLINE2)
                positions,                      // positions to reach
                times,                          // time deltas
                points,                         // total number of points
                emptyCount,                     // minimum frames before e-stop
                false,                          // whether points are kept
                true);                          // if this is the last MovePT call (true = final point, false = more points expected)
 
    axis.MotionDoneWait();                      // wait for motion to complete
 
    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;