MovePVT()

void MovePVT	(	const double *const	position,
		const double *const	velocity,
		const double *const	time,
		int32_t	pointCount,
		int32_t	emptyCount,
		bool	retain,
		bool	final )

Description:

MovePVT fits jerk profile segments through the list of position, velocity, time points. See Streaming Motion and PVT Streaming Motion for more information.

Parameters

*position	Array of positions (p) to move through. (positions are in the UserUnits for each Axis) Axis: [p0, p1, p2, ..., pn] MultiAxis, assuming the Axis mapping is J0, J1, J2: [J0p0, J1p0, J2p0, ..., J0pn, J1pn, J2pn]
*velocity	Array of velocities (v). (velocities are in UserUnits/second for each Axis) Axis: [v0, v1, v2, ..., vn] MultiAxis, assuming the Axis mapping is J0, J1, J2: [J0v0, J1v0, J2v0, ..., J0vn, J1vn, J2vn]
*time	Array of time durations for each point in seconds. Minimum value is your MotionController sample period. Values must be a multiple of the sample period. If each point should take one millisecond, your array would be: [0.001, 0.001, 0.001, etc.]
pointCount	The number of position/time points.
emptyCount	The number of motion frames (2 per point) that must be in the RMP firmware's buffer, below which triggers an OUT_OF_FRAMES E-Stop action. The RapidCode library will load frames to the RMP firmware automatically, when the buffer gets low (1/4 of the MotionController::AxisFrameBufferSizeSet() value). Set emptyCount high enough such that the duration of frames (2 per point) are greater than the value of EStopTimeGet/Set(). emptyCount must also be smaller than 20% of the MotionController::AxisFrameBufferSizeSet() value. Using a value of 0 or -1 will result in undefined motion behavior if the firmware frame buffer is starved.
retain	Points kept, or not kept (must be True if you attempt a negative feedrate to back up on path).
final	True if this is the final streaming motion call, False if more streaming motion calls will occur before this call's points are finishes.

Note

Non-Blocking Execution Motion commands return instantly and do not pause code execution. Use MotionDoneWait() post-call to block execution until motion completes, or MotionDoneGet() to poll for completion.

Part of the Streaming Motion method group.

Performance

When starting from RSIStateIDLE, MovePT and MovePVT will internally call InterruptEnableSet().
Use MotionAttributeMaskOnSet() with RSIMotionAttrMask::RSIMotionAttrMaskNO_INTERRUPT_ENABLE to disable this behavior, which reduces the time it takes to start the motion.
Be sure to call InterruptEnableSet() once during initialization.

Sample Code:

📜 Streaming Motion: PVT

/*  Demonstrates PVT (Position-Velocity-Time) streaming motion.
    PVT motion requires position, velocity, and time arrays.
    The controller calculates acceleration for each segment.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PVT");
 
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
    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 = [12.0, 10.0, 6.0];  // velocities for each position
    double[] times = [0.1, 0.2, 0.1];         // time deltas (acceleration calculated by RMP)
 
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    axis.MovePVT(positions,                   // positions to reach
                 velocities,                  // velocities for each position
                 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 MovePVT 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;

See also

Streaming Motion and PVT Streaming Motion

Examples

PVTmotionMultiAxis.cpp, and axis-motion-streaming-pvt.cs.