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.

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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
using RSI.RapidCode;
#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));
  }
}