UserLimit.cs

Attention

See the following Concept pages for a detailed explanation of this sample: User Limits.

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
using RSI.RapidCode;
#endif
 
[TestFixture]
[Category("Software")]
public class UserLimit : StaticMemoryTestBase
  {
    //[Test, Timeout(Constants.MAX_TEST_TIME)]
    [Test]
    public void UserLimitDigitalInputOneCondition()
    {
      // Constants
      const int INPUT_INDEX = 0;           // This is the index of the digital input you will use to trigger the user limit.
      const int OUTPUT_INDEX = 1;          // This is the index of the digital output that will go active when the user limit triggers.
 
      controller.AxisCountSet(1);          // The number of user limits must not be greater than the number of axis and must be set before the number of user limits   
      controller.UserLimitCountSet(1);     // Set the amount of UserLimits that you want to use. (every connected axis will automatically get 1 user limit)
      controller.InterruptEnableSet(true); // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)
 
      UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabing an memory address to store a simulated IO point.
 
      //Instead of using physical IO we will use simulated IO using a memory address as simulated IO. See the IO sample apps to see how to use a physical IO instead. 
      IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX);    // Create a simulated IOpoint using userBuffer memory. 
      IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX); // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
 
      HelperFunctions.CheckErrors(input0);
      HelperFunctions.CheckErrors(output0);
 
      //-------- PARAMETERS FOR UserLimitConditionSet --------
      int userLimitNumber = 0;                                         // Specify which user limit to use.
      int condition = 0;                                               // Specify which condition to use (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      RSIUserLimitLogic logic = RSIUserLimitLogic.RSIUserLimitLogicEQ; // Logic for input value comparison.
      UInt64 inputAddress = input0.AddressGet();                       // Use IOPoint or manually set using controller.NetworkInputAddressGet(INPUT_INDEX); for Beckhoff 10 was the index of 1st input. (To check your IO indexes go to RapidSetup -.
 
      uint test      = (uint)input0.MaskGet();
      uint inputMask = (uint)input0.MaskGet();       // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
      uint limtValue = (uint)input0.MaskGet();       // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
 
      // [1] Configure the input's trigger condition.
      controller.UserLimitConditionSet(userLimitNumber,// (User Limit Index)   - Specify which user limit to use
                                       condition,      // (Condition Number)   - Specify how many inputs you want to compare.
                                       logic,          // (Comparison Logic)   - Specify the how the input value(s) will be compared
                                       inputAddress,   // (Input Address)      - Specify the address of the input that will be compared.
                                       inputMask,      // (Input Mask)         - Specify the bits in an address which need to be used when comparing inputs.
                                       limtValue);     // (Limit Value)        - Specify the value to be compared with. 
 
      //-------- PARAMETERS FOR UserLimitConfigSet --------
      RSIUserLimitTriggerType triggerType = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;
      RSIAction action = RSIAction.RSIActionNONE;
      int axisNumber = 0;
      int duration = 0;
 
      // [2] Configure and Enable the user limit.
      controller.UserLimitConfigSet(userLimitNumber,// (User Limit Index)   - Specify which user limit to use.
                                   triggerType,     // (Trigger Type)       - Specify how your condition should be evalutated.
                                   action,          // (User Limit Action)  - Specify the action you want to cause on the axis when the user limit triggers.
                                   axisNumber,      // (Current Axis)       - Specify the axis that the action (defined above) will occur on.
                                   duration);       // (Output Timer)       - Specify the time delay before the action is executed after the User Limit has triggered.
 
 
      //-------- PARAMETERS FOR UserLimitOutputSet --------
      uint andMask = (uint)output0.MaskGet();      // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
      uint orMask = (uint)output0.MaskGet();       // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
      UInt64 outputAddress = output0.AddressGet();  //Alternatively set manually using: controller.NetworkOutputAddressGet(OUTPUT_INDEX);
      bool enableOutput = true;
 
      // [3] Configure what the output will be.     (Call this method after UserLimitConfigSet if you want an output to be triggered) (The output will only be triggered if the input conditions are TRUE.)
      controller.UserLimitOutputSet(userLimitNumber,// (User Limit Index)   - Specify which user limit to use.
                                    andMask,        // (Logic AND Mask)     - Specify the value that the digital output will be AND-ed with.
                                    orMask,         // (Logic OR Mask)      - Specify the value that the digital output will be OR-ed with.
                                    outputAddress,  // (Output Address)     - Specify the digital output address.
                                    enableOutput);  // (Enable Output Set)  - If TRUE, the output AND-ing and OR-ing will be executed when the User Limit triggers.
 
      while (controller.InterruptWait(250) != RSIEventType.RSIEventTypeUSER_LIMIT) // Loop will execute every 250 ms
      {
      Assert.That(output0.Get(), Is.False, "We expect the output to NOT be triggered");
 
        controller.MemorySet(input0.AddressGet(), 1);
      }
 
    Assert.That(output0.Get(), Is.True, "We expect the output to be triggered");
 
      controller.UserLimitDisable(userLimitNumber); // Disable User Limit.
      output0.Set(false);                           // Disable User Limit.
    }
 
    [Test]
    public void UserLimitDigitalInputTwoCondition()
    {
      // Constants
      const int INPUT_INDEX0 = 0;          // This is the index of the digital input you will use to trigger the user limit.
      const int INPUT_INDEX1 = 1;          // This is the index of the digital input you will use to trigger the user limit.
      const int OUTPUT_INDEX = 2;          // This is the index of the digital output that will go active when the user limit triggers.
 
      controller.AxisCountSet(1);          // The number of user limits must not be greater than the number of axis and must be set before the number of user limits
      controller.UserLimitCountSet(1);     // Set the amount of UserLimits that you want to use. (every connected axis will automatically get 1 user limit)
      controller.InterruptEnableSet(true); // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)
 
      //-------- PARAMETERS FOR 1st and 2nd UserLimitConditionSet --------
      int userLimitNumber = 0; // Specify which user limit to use.
      RSIUserLimitLogic logic = RSIUserLimitLogic.RSIUserLimitLogicEQ; // Logic for input value comparison.
 
      UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabing an memory address to store a simulated IO point.
 
      //Instead of using physical IO we will use simulated IO using a memory address as simulated IO. See the IO sample apps to see how to use a physical IO instead. 
      IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX0);   // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
      IOPoint input1 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX1);   // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
      IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX); // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
 
      HelperFunctions.CheckErrors(input0);
      HelperFunctions.CheckErrors(input1);
      HelperFunctions.CheckErrors(output0);
 
      int condition0 = 0;                         // Specify which condition to use (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      UInt64 input0Address = input0.AddressGet(); // 10 was the index of my 1st input. (To check your IO indexes go to RapidSetup -.
 
      uint input0Mask = (uint)input0.MaskGet();
      uint limitValue0 = (uint)input0.MaskGet();
 
      int condition1 = 1;                         // Specify which condition to use (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      UInt64 input1Address = input1.AddressGet(); // 11 was the index of my 2nd input. (To check your IO indexes go to RapidSetup -.
 
      uint input1Mask = (uint)input1.MaskGet();
      uint limitValue1 = (uint)input1.MaskGet();
 
      // [1] Configure the 1st input's trigger condition. (condition 1)
      controller.UserLimitConditionSet(userLimitNumber, // (User Limit Index)   - Specify which user limit to use
                                       condition0,      // (Condition Number)   - Specify how many inputs you want to compare.
                                       logic,           // (Comparison Logic)   - Specify the how the input value(s) will be compared
                                       input0Address,   // (Input Address)      - Specify the address of the input that will be compared.
                                       input0Mask,      // (Input Mask)         - Specify the bits in an address which need to be used when comparing inputs.
                                       limitValue0);    // (Limit Value)        - Specify the value to be compared with. 
 
      // [2] Configure the 2nd input's trigger condition. (condition 2)
      controller.UserLimitConditionSet(userLimitNumber, // (User Limit Index)   - Specify which user limit to use
                                       condition1,      // (Condition Number)   - Specify how many inputs you want to compare.
                                       logic,           // (Comparison Logic)   - Specify the how the input value(s) will be compared
                                       input1Address,   // (Input Address)      - Specify the address of the input that will be compared.
                                       input1Mask,      // (Input Mask)         - Specify the bits in an address which need to be used when comparing inputs.
                                       limitValue1);    // (Limit Value)        - Specify the value to be compared with. 
 
      //-------- PARAMETERS FOR UserLimitConfigSet --------
      RSIUserLimitTriggerType triggerType = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeCONDITION_AND;
      RSIAction action = RSIAction.RSIActionNONE;
      int axis = 0;
      int duration = 0;
 
      // [3] Configure and Enable the user limit.
      controller.UserLimitConfigSet(userLimitNumber, // (User Limit Index)   - Specify which user limit to use.
                                    triggerType,     // (Trigger Type)       - Specify how your condition should be evalutated.
                                    action,          // (User Limit Action)  - Specify the action you want to cause on the axis when the user limit triggers.
                                    axis,            // (Current Axis)       - Specify the axis that the action (defined above) will occur on.
                                    duration);       // (Output Timer)       - Specify the time delay before the action is executed after the User Limit has triggered.
 
      //-------- PARAMETERS FOR UserLimitOutputSet --------
      uint andMask = (uint)output0.MaskGet();
      uint orMask = (uint)output0.MaskGet();
      UInt64 outputAddress = output0.AddressGet();
      bool enableOutput = true;
 
      // [4] Configure what the output will be.      (Call this method after UserLimitConfigSet if you want an output to be triggered) (The output will only be triggered if the input conditions are TRUE.)
      controller.UserLimitOutputSet(userLimitNumber, // (User Limit Index)   - Specify which user limit to use.
                                    andMask,         // (Logic AND Mask)     - Specify the value that the digital output will be AND-ed with.
                                    orMask,          // (Logic OR Mask)      - Specify the value that the digital output will be OR-ed with.
                                    outputAddress,   // (Output Address)     - Specify the digital output address.
                                    enableOutput);   // (Enable Output Set)  - If TRUE, the output AND-ing and OR-ing will be executed when the User Limit triggers.
 
      while (controller.InterruptWait(250) != RSIEventType.RSIEventTypeUSER_LIMIT)       // Wait for user limit to trigger. Loop will execute every 250 ms
      {
      Assert.That(output0.Get(), Is.False, "We expect the output to NOT be triggered");
        controller.MemorySet(input0.AddressGet(), 1); // Set bit 0 high.
      Assert.That(output0.Get(), Is.False, "We expect the output to NOT be triggered");
        controller.MemorySet(input0.AddressGet(), 2); // Set bit 1 high.
      Assert.That(output0.Get(), Is.False, "We expect the output to NOT be triggered");
        //---TRIGGER---
        controller.MemorySet(input0.AddressGet(), 3); // Set bits 0 and 1 high.
      }
 
    Assert.That(output0.Get(), Is.True, "We expect the output to be triggered");
    }
 
    [Test]
    public void UserLimitDigitalInputEStopStorePosition()
    {
      // Constants
      const int AXIS_INDEX = 0;                                                                   // This is the index of the axis you will use to command motion.
      const int INPUT_INDEX = 0;
      const int AXIS_COUNT = 1;                                                                   // Axes on the network.
      const int USER_LIMIT = 0;                                                                   // Specify which user limit to use.
      const int CONDITION = 0;                                                                    // Specify which condition to use. (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      const RSIUserLimitLogic LOGIC = RSIUserLimitLogic.RSIUserLimitLogicEQ;                      // Logic for input value comparison.
      const int LIMIT_VALUE = 1;                                                                  // The value to be compared which needs to be set here.
      const RSIUserLimitTriggerType TRIGGER_TYPE = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;      // Choose the how the condition (s) should be evaluated. 
      const RSIAction ACTION = RSIAction.RSIActionE_STOP_ABORT;                                   // Choose the action you want to cause when the User Limit triggers.
      const double DURATION = 0.125;                                                              // Enter the time delay before the action is executed after the User Limit has triggered.
      const int USER_DATA_INDEX = 0;
 
      // Some Necessary Pre User Limit Configuration
      controller.AxisCountSet(1);
      controller.UserLimitCountSet(1);      // Set the amount of UserLimits that you want to use.
      controller.InterruptEnableSet(true);  // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)
 
      UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabing an memory address to store a simulated IO point.
 
      //Instead of using physical IO we will use simulated IO using a memory address as simulated IO. See the IO sample apps to see how to use a physical IO instead. 
      IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX);  // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
 
      axis = CreateAndReadyAxis(Constants.AXIS_NUMBER); // Initialize your axis object.
 
      axis.MoveVelocity(10.0, 20.0);  // Command a velocity move (Velocity=1.0, Acceleration=10.0).
 
      // USER LIMIT CONDITION
      controller.UserLimitConditionSet(USER_LIMIT, CONDITION, LOGIC, input0.AddressGet(), (uint)input0.MaskGet(), LIMIT_VALUE); // Set your User Limit Condition (1st step to setting up your user limit)
 
      // USER LIMIT CONFIGURATION
      controller.UserLimitConfigSet(USER_LIMIT, TRIGGER_TYPE, ACTION, AXIS_INDEX, DURATION);                                    // Set your User Limit Configuration. (2nd step to setting up your user limit)
 
      // USER LIMIT USER DATA SET
      controller.UserLimitInterruptUserDataAddressSet(USER_LIMIT,                                                               // Specify the user limit you want to add User Data for.
                                                      USER_DATA_INDEX,                                                          // Specify what user data index you would like to use. (must be a value from 0 to 4)
                                                      axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION));  // Specify the address of the data value you want to store in your User Data so that you can retrieve it later after the UserLimit limit triggers.
 
      // WAIT FOR DIGITAL INPUT TO TRIGGER USER LIMIT EVENT.
      while (controller.InterruptWait(250) != RSIEventType.RSIEventTypeUSER_LIMIT)        // Wait until your user limit triggers.
      {
        controller.MemorySet(input0.AddressGet(), 1);
      }
 
      int triggeredUserLimit = controller.InterruptSourceNumberGet() - AXIS_COUNT;        // Check that the correct user limit has triggered. (an extra user limit is allocated for each axis)
      double interruptPosition = controller.InterruptUserDataDoubleGet(USER_DATA_INDEX);  // Get the data stored in the interrupt's user data you configured.
 
      Console.WriteLine("TRIGGERED - User Limit Interrupt Position = " + interruptPosition / axis.UserUnitsGet()); // Get the position of the axis when it user limit event triggered.
 
      controller.UserLimitDisable(USER_LIMIT);
    }
 
    [Test]
    public void UserLimitFeedRate()
    {
      // Constants
      const int USER_LIMIT = 0;                                                                                     // Specify which user limit to use.
      const int USER_LIMIT_COUNT = 1;
      const int AXIS_COUNT = 1;
      const int CONDITION = 0;                                                                                      // Specify which condition to use. (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      const RSIUserLimitLogic LOGIC = RSIUserLimitLogic.RSIUserLimitLogicGT;                                        // Logic for input value comparison.
      const double POSITION_TRIGGER_VALUE = 5;                                                                      // The value to be compared which needs to be set here.
      const RSIUserLimitTriggerType TRIGGER_TYPE = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION; // Choose the how the condition (s) should be evaluated. 
      const RSIAction ACTION = RSIAction.RSIActionNONE;                                                             // Choose the action you want to cause when the User Limit triggers.
      const int DURATION = 0;                                                                                       // Enter the time delay before the action is executed after the User Limit has triggered.
      const double DEFAULT_FEED_RATE = 1.0;
      const double DESIRED_FEED_RATE = 2.0;
      
      // Other Global Variables
      UInt64 feedRateAddress;
 
      // Some Necessary Pre User Limit Configuration
      controller.AxisCountSet(AXIS_COUNT);              // The number of user limits must not be greater than the number of axis and must be set before the number of user limits   
      controller.UserLimitCountSet(USER_LIMIT_COUNT);   // Set the amount of UserLimits that you want to use.
 
      axis = CreateAndReadyAxis(Constants.AXIS_NUMBER); // Initialize your axis object.
 
      axis.FeedRateSet(DEFAULT_FEED_RATE); // Restore FeedRate to default value.
 
      // USER LIMIT CONDITION
      // We will use command position because we are working with a phantom axis. Actual position can be used for real axis.
      controller.UserLimitConditionSet(USER_LIMIT, CONDITION, LOGIC, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION), POSITION_TRIGGER_VALUE); // Set your User Limit Condition (1st step to setting up your user limit)
 
      // USER LIMIT CONFIGURATION
      controller.UserLimitConfigSet(USER_LIMIT, TRIGGER_TYPE, ACTION, axis.NumberGet(), DURATION); // Set your User Limit Configuration. (2nd step to setting up your user limit)
 
      // USER LIMIT OUTPUT 
      feedRateAddress = axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTARGET_FEEDRATE);
      controller.UserLimitOutputSet(USER_LIMIT, DESIRED_FEED_RATE, feedRateAddress, true);
 
    Assert.That(axis.FeedRateGet(), Is.EqualTo(DEFAULT_FEED_RATE), "We expect the feedrate to be default");
      axis.MoveSCurve(POSITION_TRIGGER_VALUE + 1);
      axis.MotionDoneWait();
    Assert.That(axis.FeedRateGet(), Is.EqualTo(DESIRED_FEED_RATE), "We expect the feedrate to be changed");
    }
 
    [Test]
    public void UserLimitPositionOneCondition()
    {
      // Constants
      const int AXIS_COUNT          = 1;
      const int USER_LIMIT_COUNT    = 1;
      const int USER_LIMIT_NUMBER   = 0;
      const double TRIGGER_POSITION = 0.05;           // Specify the position where the user limit will trigger.
      const double MOVE_POSITION    = 1.0;            // We'll move to this position, which must be past the trigger position.
      const int OUTPUT_INDEX        = 1;              // This is the index of the digital output that will go active when the user limit triggers.
      const int WAIT_FOR_TRIGGER_MILLISECONDS = 100;  // we'll wait for the UserLimit interrupt for this long before giving up.
 
      // Some Necessary Pre User Limit Configuration
      controller.AxisCountSet(AXIS_COUNT);            // The number of user limits must not be greater than the number of axis and must be set before the number of user limits   
      controller.UserLimitCountSet(USER_LIMIT_COUNT); // Set the amount of UserLimits that you want to use. (every connected axis will automatically get 1 user limit)
      controller.InterruptEnableSet(true);            // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)
 
      UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabbing a memory address to make a simulated IO point.
      IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX); // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
      output0.Set(false); // be sure we are starting with a value of 0 aka off
 
      axis = CreateAndReadyAxis(Constants.AXIS_NUMBER); // Initialize your axis object.
 
      //-------- PARAMETERS FOR UserLimitConditionSet --------                                                // Specify which user limit to use.
      int condition = 0;                                                                                      // Specify which condition to use (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      double limitValue = TRIGGER_POSITION;                                                                   // The limit value will be in counts so we multiply our desired position by USER_UNITS 
 
      controller.UserLimitConditionSet(USER_LIMIT_NUMBER,                                                     // (User Limit Index)   - Specify which user limit to use
                                       condition,                                                             // (Condition Number)   - Specify how many inputs you want to compare.
                                       RSIUserLimitLogic.RSIUserLimitLogicGT,                                 // (Comparison Logic)   - Specify the how the input value(s) will be compared
                                       axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION),// (Input Address)      - Specify the address of the input that will be compared. // FOR A REAL AXIS USE ACTUAL POSITION
                                       limitValue);                                                           // (Limit Value)        - Specify the value to be compared with. 
 
      //-------- PARAMETERS FOR UserLimitConfigSet --------
      RSIUserLimitTriggerType triggerType = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;
      RSIAction action = RSIAction.RSIActionABORT;      // Abort move when user limit triggers.
      int duration = 0;
 
      // [2] Configure and Enable the user limit.
      controller.UserLimitConfigSet(USER_LIMIT_NUMBER,   // (User Limit Index)   - Specify which user limit to use.
                                    triggerType,         // (Trigger Type)       - Specify how your condition should be evalutated.
                                    action,              // (User Limit Action)  - Specify the action you want to cause on the axis when the user limit triggers.
                                    axis.NumberGet(),    // (Current Axis)       - Specify the axis that the action (defined above) will occur on.
                                    duration);           // (Output Timer)       - Specify the time delay before the action is executed after the User Limit has triggered.
 
      //-------- PARAMETERS FOR UserLimitOutputSet --------
      uint andMask = (uint)output0.MaskGet();     // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
      uint orMask = (uint)output0.MaskGet(); ;    // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
      UInt64 outputAddress = output0.AddressGet(); //Alternatively set manually using: controller.NetworkOutputAddressGet(OUTPUT_INDEX);
      bool enableOutput = true;
 
      // [3] Configure what the output will be.    (Call this method after UserLimitConfigSet if you want an output to be triggered) (The output will only be triggered if the input conditions are TRUE.)
      controller.UserLimitOutputSet(USER_LIMIT_NUMBER,     // (User Limit Index)   - Specify which user limit to use.
                                    andMask,       // (Logic AND Mask)     - Specify the value that the digital output will be AND-ed with.
                                    orMask,        // (Logic OR Mask)      - Specify the value that the digital output will be OR-ed with.
                                    outputAddress, // (Output Address)     - Specify the digital output address.
                                    enableOutput); // (Enable Output Set)  - If TRUE, the output AND-ing and OR-ing will be executed when the User Limit triggers.
 
    Assert.That(output0.Get(), Is.False, "We expect the output to NOT be triggered");
      
      // TRIGGER
      axis.MoveSCurve(MOVE_POSITION); // Command simple motion past the trigger position.
 
      RSIEventType interruptType = controller.InterruptWait(WAIT_FOR_TRIGGER_MILLISECONDS);
 
      if (interruptType == RSIEventType.RSIEventTypeUSER_LIMIT)
      {
        // note - the object number returned for USER_LIMIT interrupts is raw an unscaled and we must add the controller's AxisCount since internally
        // there is one UserLimit allocated per Axis 
        Assert.That(controller.InterruptSourceNumberGet(), Is.EqualTo(USER_LIMIT_NUMBER + AXIS_COUNT), "We got a USER_LIMIT interrupt but it was the wrong one.");
      Assert.That(output0.Get(), Is.True, "We expect the output to be turned on when the user limit triggers.");
      }
      else
      {
        Assert.Fail("We expected a USER_LIMIT interrupt when the trigger position was exceeded but instead got " + interruptType.ToString());
      }
 
      axis.AmpEnableSet(false);                       // Disable the motor.
      controller.UserLimitDisable(USER_LIMIT_NUMBER); // Disable User Limit.
      output0.Set(false);                             // Set output low so program can run again
    }
  }