MotionHold.cs

 
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));
  }
}