The RMP Motion Controller APIs
Motion: Modify

Learn how to use Feed Rate. More...

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. 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.


📜 Feed Rate
This sample application demonstrates how to use FeedRate to adjust the speed of your motion without affecting the current move/motion profile.
You can use FeedRate to reverse a move. Move back to a certain position in your motion profile, and then resume to finish the assigned motion.
FeedRate is great because you can bring an axis to complete stop without actually changing the state of the controller, unlike STOP, ABORT, ESTOP, etc.

Console.WriteLine("Start Motion");
axis.MoveSCurve(100); // Call MoveScurve to move to a position.
// set feedrate for axis to 150%
axis.FeedRateSet(1.5);
while (axis.CommandPositionGet() < 5)
{
Thread.Sleep(1); // Wait here until we reach position "15".
}
axis.Stop(); // Stop the axis/motor.
axis.MotionDoneWait(); // Wait for move to complete.
axis.FeedRateSet(-1); // Change FeedRate to reverse motion.
axis.Resume(); // Start Reverse Motion.
Console.WriteLine("New Feed Rate Start");
axis.FeedRateSet(1); //restore default

Learn more in topic page.


📜 Change Motion Speed
This sample application demonstrates how to use change the velocity parameter of a motion that is partially complete.

axis.MoveSCurve(20, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
if (axis.CommandPositionGet() > 2)
{
// Go 10X faster
axis.MoveSCurve(20, Constants.VELOCITY * 10, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
}

Learn more in topic page.

RSI::RapidCode::RapidCodeMotion::FeedRateSet
void FeedRateSet(double rate)
Set the feed rate for an Axis.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
Command a point-to-point S-Curve motion.
RSI::RapidCode::Axis::CommandPositionGet
double CommandPositionGet()
Get the current command position.
RSI::RapidCode::RapidCodeMotion::MotionDoneWait
int32_t MotionDoneWait()
Waits for a move to complete.
RSI::RapidCode::RapidCodeMotion::Resume
void Resume()
Resume an axis.
RSI::RapidCode::RapidCodeMotion::Stop
void Stop()
Stop an axis.