Motion: Streaming

Learn how to use streaming motion in C#.

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.

In this page:

• 📜 Streaming Motion: PT
• 📜 Streaming Motion: PVT
• 📜 Streaming Motion: PVAJT
• 📜 Streaming Motion: PT While Stopping

📜 Streaming Motion: PT

Learn how to use PT Streaming Motion 📖 motion with position and time arrays. PT motion is the simplest streaming motion requiring only position and time deltas. The controller calculates velocity and acceleration for each segment.

/*  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;

📜 Streaming Motion: PVT

Learn how to use PVT Streaming Motion 📖 motion with position, velocity, and time arrays. PVT motion requires specifying positions, velocities, and time deltas. The controller calculates acceleration for each segment.

/*  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;

📜 Streaming Motion: PVAJT

Learn how to use PVAJT Streaming Motion 📖 motion with position, velocity, acceleration, jerk, and time arrays. PVAJT motion provides complete control over all motion parameters for each segment.

/*  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");
 
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 = [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, Constants.AMP_ENABLE_MS);
 
    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);
 
    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;

📜 Streaming Motion: PT While Stopping

Learn how to handle stopping and resuming PT Streaming Motion 📖 motion. Demonstrates the difference between Resume() to continue appending points versus starting fresh motion.

/*  Demonstrates how to handle PT streaming motion when stopping.
    Shows the difference between Stop/Resume to continue appending points,
    versus starting fresh motion after stopping.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PT While Stopping");
 
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
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);
    axis.PositionSet(0);  // start at position 0

    const int points = 3;                 // points per streaming motion call
    const int emptyCount = 2;             // e-stop generated if there are this number or fewer frames loaded
 
    double[] first  = [0.1, 0.2, 0.3];    // positions for first MovePT call
    double[] second = [0.4, 0.5, 0.6];    // positions for second MovePT call
    double[] third  = [0.7, 0.8, 0.9];    // positions for third MovePT call
 
    double[] time1 = [0.3, 0.3, 0.3];     // time deltas for first MovePT call
    double[] time2 = [0.2, 0.2, 0.2];     // time deltas for second MovePT call
    double[] time3 = [0.25, 0.25, 0.25];  // time deltas for third MovePT call
 
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    axis.MovePT(RSIMotionType.RSIMotionTypePT, first, time1, points, emptyCount, false, false);   // start motion and stream points
    axis.MovePT(RSIMotionType.RSIMotionTypePT, second, time2, points, emptyCount, false, false);  // append points
 
    // after Stop() on streaming motion, you can:
    // 1. Resume() to continue appending points to existing motion
    // 2. Discard previous points and start new motion
 
    axis.Stop();                                // puts axis in STOPPED state
    // axis.EStop();                            // puts axis in ERROR state (must ClearFaults() before continuing)
    // axis.Abort();                            // puts axis in ERROR state and triggers AmpEnable(false) (must call AmpEnable(true) before continuing)
    Console.WriteLine("Motion stopped.");
 
    axis.MotionDoneWait();                      // wait for axis to stop
    axis.Resume();                              // resume appends next points to existing motion, without Resume(), new points start fresh motion
 
    // append or start new based on Resume() call
    axis.MovePT(RSIMotionType.RSIMotionTypePT, third, time3, points, emptyCount, false, true);    
 
    // wait for motion to complete
    axis.MotionDoneWait();
    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;