axis-motion-hold-via-position.cs

/*  This sample demonstrates how to hold motion based on another axis reaching a specified position.
    Uses one axis to control when another axis's motion is released, useful for synchronized operations.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Motion Hold: via Position");
 
// set sample config params
const double TRIGGER_POSITION = 1;
const int MOVING_AXIS_TARGET = 10;
const int HOLDING_AXIS_TARGET = 2;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // get axes
    Axis holdingAxis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(holdingAxis);
 
    Axis movingAxis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(movingAxis);
 
    // configure phantom axes
    Helpers.PhantomAxisReset(holdingAxis);
    Helpers.PhantomAxisReset(movingAxis);
 
    holdingAxis.AmpEnableSet(true);
    movingAxis.AmpEnableSet(true);
 
    // configure motion hold - holdingAxis will be held until movingAxis reaches trigger position
    holdingAxis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeAXIS_COMMAND_POSITION);  // use AXIS_ACTUAL_POSITION for real axes
    holdingAxis.MotionHoldAxisNumberSet(movingAxis.NumberGet());                              // specify which axis position to monitor
    holdingAxis.MotionHoldAxisPositionSet(TRIGGER_POSITION);                                  // position that will release the hold
    holdingAxis.MotionHoldAxisLogicSet(RSIUserLimitLogic.RSIUserLimitLogicGE);                // release when position >= trigger position
 
    // enable motion hold and command motion
    holdingAxis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);
    holdingAxis.MoveRelative(HOLDING_AXIS_TARGET);  // this motion will be held
 
    Console.WriteLine($"\tHolding axis commanded to move to {HOLDING_AXIS_TARGET}, but motion is held");
 
    // move the trigger axis to release the hold
    movingAxis.MoveRelative(MOVING_AXIS_TARGET);
    Console.WriteLine($"\tMoving axis to {MOVING_AXIS_TARGET} to release hold...");
 
    movingAxis.MotionDoneWait();
    holdingAxis.MotionDoneWait();
 
    Console.WriteLine($"\tHolding axis final position: {holdingAxis.CommandPositionGet()} (expected: {HOLDING_AXIS_TARGET})");
    Console.WriteLine($"\tMoving axis final position: {movingAxis.CommandPositionGet()} (expected: {MOVING_AXIS_TARGET})");
 
    // cleanup
    Helpers.AbortMotionObject(holdingAxis);
    Helpers.AbortMotionObject(movingAxis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}