MovePVAJT()

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

Part of the Streaming Motion method group. Move using positions, velocities, accelerations, jerks and times. See Streaming Motion and PVAJT Streaming Motion for more information.

Parameters

*position	Array of positions (p) to move through. (positions are in the UserUnits for each Axis)
*velocity	Array of velocities (v). (velocities are in UserUnits/second for each Axis)
*acceleration	Array of accelerations (a). (accelerations are in UserUnits/second2 for each Axis)
*jerk	Array of jerks (j). (jerks are in UserUnits/second3 for each Axis)
*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

MovePVAJT supports preloaded motion, not continuous streaming motion. See RSIMotionType.

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.

Sample Code:

📜 Streaming Motion: PVAJT

/*  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
}

See also

MovePT, MovePVT, Streaming Motion and PVAJT Streaming Motion

Examples

axis-motion-streaming-pvajt.cs.