axis-motion-hold-via-digitalinput.cs

/*  This sample demonstrates how to hold motion until a digital input signal is received.
    Uses a digital input to trigger motion release, useful for external sensor-based control.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Motion Hold: via Digital Input");
 
// set sample config params
const int DIGITAL_INPUTS_PDO_INDEX = 3;  // pdo inputs index for digital inputs
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // check is network is started
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
    {
        Console.WriteLine("Network not started. Please start it before running this app.");
        return;
    }
    
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    Helpers.PhantomAxisReset(axis);
    axis.AmpEnableSet(true);
 
    // get host address using the pdo input index of digital inputs
    ulong inputAddress = controller.NetworkInputAddressGet(DIGITAL_INPUTS_PDO_INDEX);
 
    // configure motion hold for digital input
    axis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeCUSTOM);  // use custom type to hold based on bit pattern
    axis.MotionHoldUserAddressSet(inputAddress);                        // specify the digital inputs host address
    axis.MotionHoldUserMaskSet(0x20000);                                // specify the bit to watch (logic AND)
    axis.MotionHoldUserPatternSet(0x20000);                             // bit value that will release the motion hold
 
    // enable motion hold
    axis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);
 
    // command motion - will be held until digital input condition is met
    axis.MoveRelative(10);
    Console.WriteLine("\tFirst motion commanded (held until digital input triggers)");
    axis.MotionDoneWait();
 
    // subsequent moves will also be held with same condition
    axis.MoveRelative(10);
    Console.WriteLine("\tSecond motion commanded (held until digital input triggers)");
    axis.MotionDoneWait();
 
    // disable motion hold
    axis.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);
 
    // this motion will execute immediately without hold
    axis.MoveRelative(10);
    Console.WriteLine("\tThird motion commanded (no hold, executes immediately)");
    axis.MotionDoneWait();
 
    Console.WriteLine($"\tFinal position: {axis.CommandPositionGet()}");
 
    // cleanup
    Helpers.AbortMotionObject(axis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}