PTmotion.cs

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

namespace SampleAppsCS
{
    class PTmotion
    {
        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)      

            int points = 3;                              // Specify the total number of streamed points.
            int emptyCount = -1;                         // E-stop generated if there are this number or fewer frames loaded. Use the value “0” to trigger an E-stop when the buffer is empty, or “-1” to not trigger an E-stop. (Typically for PT motion there are two frames per PT point)

            double[] positions = { 2.0, 5.0, 0.0 };      // Specify the positions that you want to reach. (it can be n number)
            double[] times = { 2.0, 3.0, 1.0 };          // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)

            // 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.

            axis.Abort();
            axis.ClearFaults();
            axis.AmpEnableSet(true);
            axis.PositionSet(0);
            axis.UserUnitsSet(USER_UNITS);

            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. Use the value “0” to trigger an E-stop when the buffer is empty, or “-1” to not trigger an E-stop. (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.
        }
    }
}