axis-motion-streaming-pvajt.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 PVAJT (Position-Velocity-Acceleration-Jerk-Time) streaming motion.
    PVAJT motion requires position, velocity, acceleration, jerk, and time arrays.
    The controller uses all specified motion parameters for each segment.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PVAJT");
 
// 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);
 
    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[] velocities = [10.0, 20.0, 40.0];   // velocities for each position
    double[] accelerations = [4, 4, 4];         // accelerations for each move
    double[] jerks = [50, 50, 50];              // jerks for each move
    double[] times = [0.4, 0.2, 0.1];           // time deltas for each position
 
    axis.AmpEnableSet(true);
 
    axis.MovePVAJT(positions,                   // positions to reach
                   velocities,                  // velocities for each position
                   accelerations,               // accelerations for each move
                   jerks,                       // jerks for each move
                   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 MovePVAJT call (true = final point, false = more points expected)
 
    // 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
}