PVAJTmotion.cs

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

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

            // Constants
            const int AXIS_NUMBER = 0;                              // Specify which axis/motor to control.

            int points      = 3;                                    // Specify the total number of streamed points. (Very Important!)
            int emptyCount  = -1;                                   // E-stop generated if there aren't at least this many points loaded. ("-1" if you don't wish to trigger an E-Stop)

            double[] positions      = { 4.0, 8.0, 16.0 };           // Specify the positions that you want to reach. (it can be n number)
            double[] velocities     = { 1.0, 2.0, 4.0 };            // Specify the velocities that you want to use to reach your position.
            double[] accelerations  = { 1, 1, 1 };                  // Specify the accelerations that you want to use to reach your position.
            double[] jerks          = { 50, 50, 50 };               // Specify the jerk that you want to use in each move.
            double[] times          = { 4.0, 2, 1 };                // 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.

            try
            {

                axis.Abort();
                axis.ClearFaults();
                axis.AmpEnableSet(true);
                axis.PositionSet(0);
                axis.UserUnitsSet(1048576);

                axis.MovePVAJT(positions,                                                       // Specify the type of PT Motion that you want to perform. (RSIMotionType.RSIMotionTypePT, RSIMotionType.RSIMotionTypeBSPLINE, RSIMotionType.RSIMotionTypeBSPLINE2)
                            velocities,                                                         // Specify the positions that you want to reach. (it can be n number)
                            accelerations,                                                      // Specify the accelerations that you want to use during every move. 
                            jerks,                                                              // Specify the jerk that you want to use during every move.
                            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.
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);                                                   // If there are any exceptions/issues this will be printed out.
            }
        }
    }
}