axis-motion-hold-via-address.cs

/*  This sample demonstrates how to hold motion using a software address (memory location).
    Motion is held until a specific bit pattern is written to the address, useful for custom logic.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 Motion Hold: via Address");
 
// set sample config params
const int MOVE_DISTANCE = 2;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    Helpers.PhantomAxisReset(axis);
    axis.AmpEnableSet(true);
 
    // get available software address from user buffer
    ulong softwareAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 1);
 
    // configure motion hold on software address
    axis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeCUSTOM);  // use custom type to hold based on bit pattern
    axis.MotionHoldUserAddressSet(softwareAddress);                     // specify the host address
    axis.MotionHoldUserMaskSet(0x1);                                    // specify the bit to watch (logic AND)
    axis.MotionHoldUserPatternSet(0x1);                                 // bit value that will release the motion hold
 
    // ensure condition is false initially
    if (controller.MemoryGet(softwareAddress) != 0x0)
        controller.MemorySet(softwareAddress, 0x0);
 
    // enable motion hold
    axis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);
 
    // command motion - will be held
    axis.MoveRelative(MOVE_DISTANCE);
    Console.WriteLine($"\tFirst motion commanded to move {MOVE_DISTANCE} (held)");
    Thread.Sleep(100);
 
    double positionWhileHeld = axis.CommandPositionGet();
    Console.WriteLine($"\tPosition while held: {positionWhileHeld} (should be 0)");
 
    // release motion hold by setting the address
    controller.MemorySet(softwareAddress, 0x1);
    Console.WriteLine("\tReleasing hold via address...");
    axis.MotionDoneWait();
    controller.MemorySet(softwareAddress, 0x0);  // reset to false
 
    Console.WriteLine($"\tPosition after release: {axis.CommandPositionGet()} (expected: {MOVE_DISTANCE})");
 
    // command motion again - will be held again
    axis.MoveRelative(MOVE_DISTANCE);
    Console.WriteLine($"\tSecond motion commanded to move {MOVE_DISTANCE} (held)");
    Thread.Sleep(100);
 
    // release motion hold again
    controller.MemorySet(softwareAddress, 0x1);
    Console.WriteLine("\tReleasing hold via address...");
    axis.MotionDoneWait();
    controller.MemorySet(softwareAddress, 0x0);  // reset to false
 
    // disable motion hold
    axis.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);
 
    // this motion will execute immediately
    axis.MoveRelative(MOVE_DISTANCE);
    Console.WriteLine($"\tThird motion commanded to move {MOVE_DISTANCE} (no hold)");
    axis.MotionDoneWait();
 
    // clean up
    Helpers.AbortMotionObject(axis);
 
    Console.WriteLine($"\tFinal position: {axis.CommandPositionGet()} (expected: {MOVE_DISTANCE * 3})");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}