group__rapidcode-api-samples-py-helloaxismotion.html

import os

import sys

import time


import RapidCodeHelpers as helpers # The check_errors() and check_errors() helpers provided on our API SampleApp documentation pages


rapidcode_dir = helpers.find_rapid_code_directory()


#Import the ntx.dll from INtime

os.add_dll_directory("c:\\Program Files (x86)\\INtime\\bin")#ntx.dll


#Import the RapidCode.py file (Path to your rapidcode install directory)

sys.path.append(rapidcode_dir)


import RapidCode # The RapidCode.py wrapper located in your RMP install directory


def main():

    print("Hello, RapidCode.")


    motionController:RapidCode.MotionController = RapidCode.MotionController.CreateFromSoftware(rapidcode_dir)

    print("This object is a "+str(type(motionController)))#When creating your RapidCode objects (Axis, MultiAxis, MotionController,ect) we recommend specifying the type with my_object_name:RapidCode.*** (MotionController,Axis, Ect.) so that your IDE can autocomplete class member names.


    #motionController=RapidCode.RapidCodeObject(motionController)

    print("MotionController creation error count: ", motionController.ErrorLogCountGet())

    helpers.check_errors(motionController)


    motionController.AxisCountSet(1)

    axis:RapidCode.Axis = motionController.AxisGet(0)

    helpers.check_errors(axis)


    print("Axis ",axis.NumberGet()," creation error count: ", axis.ErrorLogCountGet())


    axis.MoveRelative(2, 10, 1, 1, 50)


    while not axis.MotionDoneGet():

        print("Position: ", axis.CommandPositionGet(), " Velocity: ", axis.CommandVelocityGet())

        time.sleep(1)