RelativeMotion.cs

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

namespace SampleAppsCS
{
    class RelativeMotion
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;            // Specify which axis/motor to control
            const int RELATIVE_POSITION1 = 25;    // Specify the first relative position to move to
            const int RELATIVE_POSITION2 = -50;   // Specify the second relative position to move to
            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) 
            const int VELOCITY = 10;              // Specify your velocity - units: Units/Sec     (it will do "1048576 counts / 1 motor revolution" per second)
            const int ACCELERATION = 100;         // Specify your acceleration - units: Units/Sec^2
            const int DECELERATION = 100;         // Specify your deceleration - units: Units/Sec^2
            const int JERK_PCT = 50;              // Specify your jerk percent - units: Units/Sec^2

            // 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);                                                          // Specify the counts per Unit. (every 1048576 counts my motor does one full turn) (varies per motor)
                axis.ErrorLimitTriggerValueSet(1);                                                      // Specify the position error limit trigger. (Learn more about this on our support page)
                axis.PositionSet(0);                                                                    // Ensure motor starts at position 0 every time

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

                Console.WriteLine("Relative Motion Example\n");

                axis.MoveSCurve(25, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT);                    // To demonstrate relative motion, we will start the axis at position 25.
                axis.MotionDoneWait(3000);                                                              // Then, when we make a relative move to RELATIVE_POSITION1, we will end up at position 50, and
                                                                                                        // and when we move to RELATIVE_POSITION2, we will be back at position 0.
                                                                                                        // NOTE that this move is an ABSOLUTE MOVE, so it moves the axis to position 25 rather than 25
                                                                                                        // units ahead of the current position.

                // Wait for Motion to finish. (the motion should take 2.5 seconds)
                // (if the motion is not done in 3000 milliseconds, MotionDoneWait() will throw an error)

                Console.WriteLine("\nRelative move of " + RELATIVE_POSITION1 + " from " + axis.ActualPositionGet() + "...\n");

                axis.MoveRelative(RELATIVE_POSITION1, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT);  // Command a relative move
                axis.MotionDoneWait(3000);                                                              // Wait for motion to finish. (the motion should take 2.5 seconds)
                                                                                                        // (if the motion is not done in 3000 milliseconds, MotionDoneWait() will throw an error)

                Console.WriteLine("\nFinal Position: " + axis.ActualPositionGet() + "\n");
                Console.WriteLine("\nRelative move of " + RELATIVE_POSITION2 + " from " + axis.ActualPositionGet() + "...\n");

                axis.MoveRelative(RELATIVE_POSITION2, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT);  // Command a relative move. (the motion should take 5 seconds)
                axis.MotionDoneWait(6000);                                                              // Wait for the motion to finish. (the motion should take 5 seconds)
                                                                                                        // (if the motion is not done in 6000 milliseconds, MotionDoneWait() will throw an error)
                Console.WriteLine("\nFinal Position: " + axis.ActualPositionGet() + "\n");
                Console.WriteLine("\nDone\n");

                axis.AmpEnableSet(false);                                                               // Disable the axis
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                           // Allow time to read Console.
            Console.ReadKey();
        }
    }
}