axis-motion.py

""" Sample application that demonstrates basic Axis motion.
"""
 
from _imports import RapidCode, helpers, time
 
print("⬤ Axis Basic Motion")
 
# get/create the motion controller
creation_params: RapidCode.CreationParameters = helpers.get_creation_parameters()
controller: RapidCode.MotionController = RapidCode.MotionController.Create(creation_params)
helpers.check_errors(controller)
 
# type hints enable IDE autocomplete for RapidCode objects
print(f"This object is a {type(controller)}")
 
# create an axis if it doesn't exist
controller.AxisCountSet(1)
 
# get axis
axis: RapidCode.Axis = controller.AxisGet(0)
helpers.check_errors(axis)
 
# ready axis for motion
axis.EStopAbort()
axis.MotionDoneWait()
axis.ClearFaults()
axis.AmpEnableSet(True)
 
# execute a relative move (distance, velocity, accel, decel, jerk%)
axis.MoveRelative(2, 10, 1, 1, 50)
 
# monitor motion 
while not axis.MotionDoneGet():
    print(f"Position: {axis.CommandPositionGet()}, Velocity: {axis.CommandVelocityGet()}")
    time.sleep(1)
 
# clean up
helpers.abort_motion_object(axis)
controller.Delete()