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.

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.

Remarks

This function is also available in RapidSequencer.

Note

Non-Blocking Execution Motion commands return instantly and do not pause code execution. Use MotionDoneWait() post-call to halt execution until motion completes.

Part of the Streaming Motion method group.

Sample Code:

PTmotion

      int points         = 3;                     // Specify the total number of streamed points.
      int emptyCount     = 2;                     // E-stop generated if there are this number or fewer frames loaded. (Typically for PT motion there are two frames per PT point)
      double[] positions = { 1.0, 0.5, 0.75 };    // Specify the positions that you want to reach. (it can be n number)
      double[] times     = { 0.2, 0.3, 0.1 };     // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
 
      axis.MovePT(RSIMotionType.RSIMotionTypePT,  // Specify the type of PT Motion that you want to perform. (RSIMotionType.RSIMotionTypePT, RSIMotionType.RSIMotionTypeBSPLINE, RSIMotionType.RSIMotionTypeBSPLINE2)
                      positions,                  // Specify the positions that you want to reach. (it can be n number)
                      times,                      // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
                      points,                     // Specify the total number of streamed points.
                      emptyCount,                 // E-stop generated if there are this number or fewer frames loaded. (Typically for PT motion there are two frames per PT point)
                      false,                      // Specify whether points are kept, or are not kept.
                      true);                      // Specify if this is the last MovePT. (If True, this is the final point. If False, more points expected.)
      
      axis.MotionDoneWait();                      // Wait for motion to be completed.      

See also

PVT, DifferentMotionTypes, MoveSCurve, MoveTrapezoidal, MovePVT

Examples

InputOutput.cs, MotionStreaming.cs, SingleAxisSyncOutputs.cpp, SyncOutputWithMotion.cpp, and UpdateBufferPoints.cpp.