axis-motion-hold-via-digitalinput.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 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");
 
int exitCode = 0;
 
// 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);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    // check is network is started
    if (!Constants.USE_HARDWARE)
    {
        Console.WriteLine("Phantom axes do not have digital inputs. Please enable USE_HARDWARE to run this sample.");
        return Constants.EXIT_SUCCESS;
    }
 
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
    {
        Console.WriteLine("Network not started. Please start it before running this app.");
        return Constants.EXIT_SUCCESS;
    }
    
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure axis
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    // 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(3);
    Console.WriteLine("\tFirst motion commanded (held until digital input triggers)");
    axis.MotionDoneWait();
 
    // subsequent moves will also be held with same condition
    axis.MoveRelative(3);
    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(3);
    Console.WriteLine("\tThird motion commanded (no hold, executes immediately)");
    axis.MotionDoneWait();
 
    Console.WriteLine($"\tFinal position: {axis.CommandPositionGet()}");
 
    // cleanup
    Helpers.AbortMotionObject(axis);
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;