APIs, concepts, guides, and more
MotionHold.cs
Attention
See the following Concept pages for a detailed explanation of this sample: Motion Hold.
Warning
This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using NUnit.Framework;
using System;
#if DOXYGEN // RSI internal documentation use only
#endif
[TestFixture]
[Category("Software")]
public class MotionHold : SampleAppTestBase
{
public void MotionHoldByDigitalInput()
{
// Constants
const int DIGITAL_INPUTS_PDO_INDEX = 3; // Specify the pdo inputs index that represent digital inputs.
// SET MOTION HOLD
ulong inputAddress = controller.NetworkInputAddressGet(DIGITAL_INPUTS_PDO_INDEX); // Get host address using the PDO Input Index of Digital Inputs.
axis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeCUSTOM); // Use TypeCUSTOM to hold execution based on a particular bit turning ON or OFF.
axis.MotionHoldUserAddressSet(inputAddress); // Specify the digital inputs host address. This address' value will be used to evaluate the motion hold condition.
axis.MotionHoldUserMaskSet(0x20000); // Specify the bit you want to mask/watch from the MotionHoldUserAddressSet' address value (this evaluates using a logic AND)
axis.MotionHoldUserPatternSet(0x20000); // Specify the bit value that will release the motion hold. (When this value is met, motion hold will be released)
axis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD); // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
axis.MoveRelative(10); // Command simple relative motion. (This motion will be HOLD by the condition above)
axis.MotionDoneWait(); // Wait for Motion to be completed.
axis.MoveRelative(10); // If motion attribute mask off has not been set, this motion will have same HOLD condition as previous move.
axis.MotionDoneWait(); // Wait for Motion to be completed.
axis.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);// Set the HOLD motion attribute mask OFF. (This will clear any motion HOLDS that were set on this Axis)
axis.MoveRelative(10); // This motion will have no HOLD since the previous line has set the motion attribute mask OFF.
axis.MotionDoneWait(); // Wait for Motion to be completed.
// Abort and Clear Faults
axis.Abort();
axis.ClearFaults();
}
[Test]
public void MotionHoldByPosition()
{
// Constants
const double TRIGGER_POS = 1; // Specify the position that will be evaluted on triggering/releasing motion
const int MOVING_AXIS_TARGET = 10;
const int HOLDINGAXIS_TARGET = 2;
// Initialize RapidCode Objects
// Initiazlize Axes: holdingAxis and movingAxis
Axis holdingAxis = controller.AxisGet(Constants.HOLDING_AXIS_INDEX); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
HelperFunctions.CheckErrors(holdingAxis); // [Helper Function] Check that the axis has been initialize correctly.
Axis movingAxis = controller.AxisGet(Constants.MOVING_AXIS_INDEX); // Initialize HoldAxis Class. (Use RapidSetup Tool to see what is your axis number)
HelperFunctions.CheckErrors(movingAxis); // [Helper Function] Check that the axis has been initialize correctly.
// SET UP MOTION HOLD // Condition/Configuration to the Axis(movingAxis) that will hold Motion and its Position that will trigger/release motion
holdingAxis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeAXIS_COMMAND_POSITION); // Use RSIMotionHoldTypeAXIS_ACTUAL_POSITION if it is not Phantom Axis.
holdingAxis.MotionHoldAxisNumberSet(movingAxis.NumberGet()); // Specify motion hold to the Axis(movingAxis) whose position will hold the motion of holdingAxis.
holdingAxis.MotionHoldAxisPositionSet(TRIGGER_POS); // Specify motion hold position which is the movingAxis's position(need to multiply with USER_UNITS to get correct position value) to trigger/release the motion of holdingAxis.
holdingAxis.MotionHoldAxisLogicSet(RSIUserLimitLogic.RSIUserLimitLogicGE); // Specify the logic condition that will be evaluated to trigger/release motion based on the SET POSITION(USER_UNITS * TRIGGER_POS).In this case, GT(Greater than or Equal to) motion hold position limit to release
// SET MOTION HOLD ON
holdingAxis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD); // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
holdingAxis.MoveRelative(HOLDINGAXIS_TARGET); // Command simple relative motion(This motion will be hold by condition above until movingAxis's Position passes motion hold position limit)
// Release MOTION HOLD
movingAxis.MoveRelative(MOVING_AXIS_TARGET); // Move movingAxis.MovingAxis's position reaches its MotionHold Position limit(in this case, limit is 5). It will trigger/release motion on holdingAxis (holidingAxis will move relatively 10).
movingAxis.MotionDoneWait();
holdingAxis.MotionDoneWait();
Assert.That(holdingAxis.CommandPositionGet(), Is.EqualTo(HOLDINGAXIS_TARGET));
}
[Test]
public void MotionHoldBySoftwareAddress()
{
// Constants
UInt64 SOFTWARE_ADDRESS = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 1);
int WAIT_TIME = 10;
int MOVE_DIST = 2;
// SET MOTION HOLD ON AVAILABLE SOFTWARE ADDRESS
axis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeCUSTOM); // Use TypeCUSTOM to hold execution based on a particular bit turning ON or OFF.
axis.MotionHoldUserAddressSet(SOFTWARE_ADDRESS); // Specify the available hostAddress . This address' value will be used to evaluate the motion hold condition.
axis.MotionHoldUserMaskSet(0x1); // Specify the bit you want to mask/watch from the MotionHoldUserAddressSet' address value (this evaluates using a logic AND)
axis.MotionHoldUserPatternSet(0x1); // Specify the bit value that will release the motion hold. (When this value is met, motion hold will be released)
// Check the condition to be false at first
if (controller.MemoryGet(SOFTWARE_ADDRESS) != 0x0) // Check Available host address value is mask to be false (in this case 0x0)
{
controller.MemorySet(SOFTWARE_ADDRESS, 0x0); // if not, mask it to false value/condition (in this case 0x0)
}
// SET MOTION HOLD
axis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD); // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
axis.MoveRelative(MOVE_DIST); // Command simple relative motion. (This motion will be HOLD by the condition above)
System.Threading.Thread.Sleep(WAIT_TIME); // Sleep for (x) miliseconds before releasing motion hold.
var expectedCmdPos1 = axis.CommandPositionGet(); // Sould be 0
// RELEASE MOTION HOLD
controller.MemorySet(SOFTWARE_ADDRESS, 0x1); // Release Motion Hold by specifying the host address value to SET Condition (in this case 0x10000)
axis.MotionDoneWait(); // Wait for motion to be done
controller.MemorySet(SOFTWARE_ADDRESS, 0x0); // Specify host address value back to false value/condition (in this case 0x0)
var expectedCmdPos2 = axis.CommandPositionGet(); // Should be MOVE_DIST
// COMMAND MOTION AGAIN
axis.MoveRelative(MOVE_DIST); // Command simple relative motion again. (This motion will be HOLD by the condition above)
System.Threading.Thread.Sleep(WAIT_TIME); // Sleep for (x) miliseconds before releasing motion hold.
// RELEASE MOTION HOLD
controller.MemorySet(SOFTWARE_ADDRESS, 0x1); // Release Motion Hold by specifying the host address value to SET Condition (in this case 0x1)
axis.MotionDoneWait(); // Wait for motion to be done
controller.MemorySet(SOFTWARE_ADDRESS, 0x0); // Specify host address value back to false value/condition (in this case 0x0)
// CLEAR MOTION HOLD
axis.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD); // Set the HOLD motion attribute mask OFF. (This will clear any motion HOLDS that were set on this Axis)
axis.MoveRelative(MOVE_DIST); // This motion will have no HOLD since the previous line has set the motion attribute mask OFF.
axis.MotionDoneWait(); // Wait for Motion to be completed.
Assert.That(expectedCmdPos1, Is.EqualTo(0));
Assert.That(expectedCmdPos2, Is.EqualTo(MOVE_DIST));
}
}
static void CheckErrors(RapidCodeObject rsiObject)
Check if the RapidCodeObject has any errors.
Helper Functions for checking logged creation errors, starting the network, etc.
double CommandPositionGet()
Get the current command position.
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct)
Command a relative point-to-point S-Curve motion.
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5513
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
void MemorySet(uint64_t address, int32_t data)
Write a value to controller memory.
uint64_t AddressGet(RSIControllerAddressType type)
Get the an address for some location on the MotionController.
int32_t MemoryGet(uint64_t address)
Read controller memory.
uint64_t NetworkInputAddressGet(int32_t index)
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
void MotionHoldAxisPositionSet(double position)
Sets the Axis position.
void Abort()
Abort an axis.
int32_t MotionDoneWait()
Waits for a move to complete.
void MotionHoldUserMaskSet(int32_t holdMask)
Sets the Motion Hold User bit mask.
void MotionHoldUserPatternSet(int32_t pattern)
Sets the Motion Hold User pattern bit mask.
void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff)
Turn off a particular motion attribute mask.
void MotionHoldTypeSet(RSIMotionHoldType type)
Set the motion hold type.
void MotionHoldAxisNumberSet(int32_t number)
Sets the Axis number for Motion Hold.
void MotionHoldUserAddressSet(uint64_t address)
Sets the Motion Hold User Address.
int32_t NumberGet()
Get the axis number.
void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn)
Turn on a particular motion attribute mask.
void MotionHoldAxisLogicSet(RSIUserLimitLogic logic)
Set the logic when holding for Axis ActualPosition.
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:404
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:639
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1005
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1041