FeedRate.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using System;

namespace SampleAppsCS
{
    class FeedRate
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;                              // Specify which axis/motor to control.
            const int USER_UNITS = 1048576;                         // Specify your counts per unit / user units.   (the motor used in this sample app has 1048576 encoder pulses per revolution)       

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);  // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                     // [Helper Function] Check that the controller has been initialized correctly.

            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                                 // [Helper Function] Initialize the network.

            Axis axis = controller.AxisGet(AXIS_NUMBER);                                              // Initialize the axis.
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                           // [Helper Function] Check that the axis has been initialized correctly.

            try
            {
                // Get Axis Ready for Motion

                axis.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                axis.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                axis.PositionSet(0);                                                                // Make sure motor starts at position 0 everytime.
                axis.DefaultVelocitySet(1);                                                         // Specify velocity.
                axis.DefaultAccelerationSet(10);                                                    // Specify acceleration.
                axis.DefaultDecelerationSet(10);                                                    // Specify deceleration.
                axis.FeedRateSet(1);                                                                // Make sure the FeedRate has its default value.

                axis.Abort();                                                                       // If there is any motion happening, abort it.
                axis.ClearFaults();                                                                 // Clear faults.
                axis.AmpEnableSet(true);                                                            // Enable the motor.


                // Start Motion
                Console.WriteLine("Motion Start");
                axis.MoveSCurve(15);                                                                // Call MoveScurve to move to a position.

                while (axis.ActualPositionGet() < 10) { }                                           // 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");

                while (axis.ActualPositionGet() > 5) { }                                            // Wait here until we reach position "5".

                axis.Stop();                                                                        // Stop the axis/motor.
                axis.MotionDoneWait();                                                              // Wait for move to complete.
                axis.FeedRateSet(1);                                                                // Change FeedRate to default value.
                axis.Resume();                                                                      // Resume the MoveScurve Motion.

                Console.WriteLine("New Feed Rate Start");

                axis.MotionDoneWait();                                                              // Wait for move to complete.
                axis.AmpEnableSet(true);                                                            // Disable axis/motor.


            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);                                                       // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}