PTmotionWhileStopping.cs

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

namespace SampleAppsCS
{
    class PTmotionWhileStopping
    {
        static void Main(string[] args)
        {

            // Constants
            const int AXIS_NUMBER = 0;         // Specify which axis/motor to control.
            const int POINTS = 1;              // Specify how many points per streaming motion method call.
            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)       

            double[] first = { 10.0 };         // specify the array with position(s) that will go in the first MovePT call.
            double[] second = { 20.0 };        // specify the array with position(s) that will go in the second MovePT call
            double[] third = { 7.0 };          // specify the array with position(s) that will go in the third MovePT call

            double[] time1 = { 5.0 };          // specify the array with time(s) that will go in the first MovePT call.
            double[] time2 = { 2.0 };          // specify the array with time(s) that will go in the second MovePT call.
            double[] time3 = { 5.0 };          // specify the array with time(s) that will go in the third MovePT call.

            // 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
            {
                axis.UserUnitsSet(USER_UNITS);
                axis.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                axis.PositionSet(0);


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

                axis.MovePT(RSIMotionType.RSIMotionTypePT, first, time1, POINTS, -1, false, false);         // Start motion and stream a point.
                axis.MovePT(RSIMotionType.RSIMotionTypePT, second, time2, POINTS, -1, false, false);        // Append a point.

                // After you stop a streaming motion, you can do 2 things. 
                // 1. You can either RESUME motion and continue to append. 
                // 2. Or you can DISCARD the points before the stop and start new motion.

                axis.Stop();                                                                                // Calling Stop() after streaming motion will put you in an STOPPED state.

                //axis.EStop();                                                                             // Calling EStop() after streaming motion will put you in an ERROR state. 
                // Therefore, you must ClearFaults() before taking any action.

                //axis.Abort();                                                                             // Calling Abort() after streaming motion will put you in an ERROR state and trigger an AmpEnable(false). 
                // Therefore, you must call AmpEnable(true) before taking action.

                axis.MotionDoneWait();                                                                      // Wait for axis to come to a stop.
                axis.Resume();                                                                              // Resume() is the key here. 
                                                                                                            // If you include Resume() you will append all next streaming points to the old ones.
                                                                                                            // If you do not include Resume() you will discard all previous points and start with new motion with the new points.

                axis.MovePT(RSIMotionType.RSIMotionTypePT, third, time3, POINTS, -1, false, true);          // Depending on whether you include Resume() or not this point will be appended or will be starting motion.

            }
            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();
        }
    }
}