axis-motion-hold-via-address.cs

Note

See Motion: Hold 📜 for a detailed explanation of this sample code.

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.

/*  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
}