MovePT()

void MovePT	(	RSIMotionType	type,
		const double *const	position,
		const double *const	time,
		int32_t	pointCount,
		int32_t	emptyCount,
		bool	retain,
		bool	final )

Description:

MovePT moves through position/time points. See Streaming Motion and PT Streaming Motion for more information.

Parameters

type	RSIMotionTypeBSPLINE, etc. ::RSIMotionType.
*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]
*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: PT

/*  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;

See also

Streaming Motion, PT Streaming Motion, MovePVT

Examples

SingleAxisSyncOutputs.cpp, SyncOutputWithMotion.cpp, UpdateBufferPoints.cpp, axis-motion-streaming-pt-whilestopping.cs, axis-motion-streaming-pt.cs, and io-sync-outputs.cs.