SCurveMotion.cs

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

namespace SampleAppsCS
{
    class SCurveMotion
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;              // Specify which axis/motor to control
            const int RELATIVE_POSITION = 100;      // Specify the position to travel 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 = 10;            // Specify your acceleration.   -   units: Units/Sec^2
            const int DECELERATION = 10;            // Specify your deceleration.   -   units: Units/Sec^2
            const int JERK_PCT = 50;                // Specify your jerk percent (0.0 to 100.0)

            // 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 initialize correctly.

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

            Axis axis = controller.AxisGet(AXIS_NUMBER);                                            // Initialize axis. (Use RapidSetup Tool to see what is your axis number)
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                         // [Helper Function] Check that the axis has been initialize correctly.

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

                Console.WriteLine("SCurve Motion Example\n");
                Console.WriteLine("SCurve Profile: In Motion...\n");

                axis.MoveSCurve(RELATIVE_POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT); // Command SCurve Motion
                axis.MotionDoneWait();                                                              // Wait for motion to finish

                Console.WriteLine("SCurve Profile: Completed\n");

                axis.AmpEnableSet(false);                                                           // Disable the 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();
        }
    }
}