Streaming Outputs with Streaming Motion: Triggered at Actual or

RapidCode API
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1

[RMP 10.5.5]

When I invoke StreamingOutputAdd with a point index, should I expect that the output will change when that point is commanded or executed?

2

FWIW, the behavior I’m observing is that the output changes state when the motion is commanded.

The horizontal line is axis position where I “really want” the output to trigger. The vertical line is when it actually triggers.

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I would have preferred it to happen when the motion is executed.

3

Hi Todd,

When looking at your point array, are you setting Streaming Output add at the point that says ~go to 5~? Or the one that says ~go to 5.02~?

I expect the Streaming Output Add to turn on when it starts the segment rather than when it reaches its fully resolves executing the segment points.

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4

The particular waypoint for which I’m calling the API (in this example) is index #6 in the burst of waypoints that I’m sending, and the axis position for it is 4.9900.

5

By “segment”, are you referring to two adjacent waypoints or the collection of waypoints that I give to a single call to MovePT(...)?

6

Hi Todd,

I can see the confusion. In the documentation, it mentions when it reaches the 3rd and 4th point.

double[] positions = { 1.0, 2.0, 3.0, 4.0 }; // These will be the streaming motion 5 positions.
double[] times = { 0.5, 0.1, 0.2, 0.4 }; // These will be the streaming motion 5 positions' time.
...
// This will turn DOUT1 High when the streaming motion reaches its 3rd motion point.
axis.StreamingOutputAdd(output0, true, outputEnableID); 
// This will turn DOUT1 Low when the streaming motion reaches its 4th motion point.
axis.StreamingOutputAdd(output0, false, outputDisableID);

Just move the ptPointIndex up to the segment after the command to 5.0 and you should see it turn on at the right behavior. If you repeat 5.0 you can put it on the 2nd 5.0.