axis-motion-hold-via-position.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 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");
 
int exitCode = 0;
 
// 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);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller, minRequiredSampleAxisCount: 2);
 
    // 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, Constants.AMP_ENABLE_MS);
    movingAxis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    // configure motion hold - holdingAxis will be held until movingAxis reaches trigger position
    bool movingAxisIsHardware = movingAxis.MotorTypeGet() != RSIMotorType.RSIMotorTypePHANTOM;
    RSIMotionHoldType motionHoldType = movingAxisIsHardware ?
        RSIMotionHoldType.RSIMotionHoldTypeAXIS_ACTUAL_POSITION :                             // AXIS_ACTUAL_POSITION for hardware axes
        RSIMotionHoldType.RSIMotionHoldTypeAXIS_COMMAND_POSITION;                             // AXIS_COMMAND_POSITION for phantom axes    
    holdingAxis.MotionHoldTypeSet(motionHoldType);
    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);
 
    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;