MotionHoldReleasedBySoftwareAddress.cpp

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.

 
#include <thread>
#include "rsi.h"                // Import our RapidCode Library. 
#include "SampleAppsHelper.h"    // Import our SampleApp helper functions. 
#include "SampleApps.h"
 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace
 
int MotionHoldReleasedBySoftwareAddress::Run()
{
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
 
  // Axis configuration parameters
  const int AXIS_COUNT = 1;
  const int AXIS_NUMBER = 0;
 
  const double USER_UNITS = 1048576;
 
  // Index for the address in the user buffer to use for the motion hold
  const int USER_BUFFER_INDEX = 0;
 
  // Motion parameters
  const double MOTION_DISTANCE = 0.25;
 
  const std::chrono::duration HOLD_TIME = std::chrono::milliseconds(2000);
 
  // To run with hardware, set the USE_HARDWARE flag to true AFTER you have configured the parameters above and taken proper safety precautions.
  USE_HARDWARE = false;
 
  // The rmpPath only needs to be set if the project directory is different than the rapid setup directory.
  // *NOTICE* When setting the rmpPath, be sure to uncomment the rmpPath arguement in MotionController::CreateFromSoftware() in the Run() function.
  const char rmpPath[] = "C:\\RSI\\X.X.X\\";            // Insert the path location of the RMP.rta (usually the RapidSetup folder)"
 
  /* SAMPLE APP BODY */
 
  // Initialize MotionController class.
  MotionController* controller = MotionController::CreateFromSoftware(/*rmpPath*/);     // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
  SampleAppsHelper::CheckErrors(controller);                                               // [Helper Function] Check that the axis has been initialize correctly. 
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    SampleAppsHelper::SetupControllerForPhantoms(controller, AXIS_COUNT, { AXIS_NUMBER });
  }
 
  try
  {
    Axis* axis = controller->AxisGet(AXIS_NUMBER);      // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
    SampleAppsHelper::CheckErrors(axis);                 // [Helper Function] Check that the axis has been initialize correctly.
 
    // GET AXIS READY
    axis->UserUnitsSet(USER_UNITS);                     // Specify the counts per Unit.
    axis->PositionSet(0);                               // Make sure motor starts at position 0 every time.
    axis->ErrorLimitTriggerValueSet(1);                 // Set the position error trigger value
    axis->Abort();                                      // If there is any motion happening, abort it.
    axis->ClearFaults();                                // Clear faults.>
    axis->AmpEnableSet(true);                           // Enable the motor.
 
    // GET AN AVAILABLE MEMORY ADDRESS
    uint64_t userBufferAddress = controller->AddressGet(RSIControllerAddressType::RSIControllerAddressTypeUSER_BUFFER, USER_BUFFER_INDEX);
 
    // 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(userBufferAddress);                          // 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(userBufferAddress) != 0x0)        // Check Available host address value is mask to be false (in this case 0x0)
    {
      controller->MemorySet(userBufferAddress, 0x0);          // if not, mask it to false value/condition (in this case 0x0)
    }
 
    // COMMAND MOTION (NO HOLD YET)
    printf("\nCommanding Motion...\n");
    axis->MoveRelative(MOTION_DISTANCE);                            // Command simple relative motion. (This motion will have no HOLD)
 
    // SET MOTION HOLD
    printf("\nSetting Motion Hold...\n");
    axis->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskHOLD);       // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
 
    // COMMAND MOTION AGAIN (MOTION WILL BE HELD)
    printf("Commanding Motion...\n");
    axis->MoveRelative(MOTION_DISTANCE);                                                         // Command simple relative motion. (This motion will be HOLD by the condition above)
    std::this_thread::sleep_for(HOLD_TIME);                           // Sleep for 3 second before releasing motion hold.
 
    // RELEASE MOTION HOLD (MOTION WILL START)
    printf("Releasing Motion Hold...\n");
    controller->MemorySet(userBufferAddress, 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(userBufferAddress, 0x0);      // Specify host address value back to false value/condition (in this case 0x0)
 
    // CLEAR MOTION HOLD
    printf("\nClearing Motion Hold...\n");
    axis->MotionAttributeMaskOffSet(RSIMotionAttrMask::RSIMotionAttrMaskHOLD);      // Set the HOLD motion attribute mask OFF. (This will clear any motion HOLDS that were set on this Axis)
 
    // COMMAND MOTION AGAIN (NO HOLD)
    printf("Commanding Motion...\n");
    axis->MoveRelative(-2 * MOTION_DISTANCE);           // 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();
  }
  catch (RsiError const& err)
  {
    printf("%s\n", err.text);       // If there are any exceptions/issues this will be printed out.
    return -1;
  }
  controller->Delete();               // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
  return 0;
}