Hardware Limits

Controller Interrupts sample application.

There are four configurations available for a motor's positive and negative hardware limit inputs: 1) Event Action (action such as RSIActionE_STOP, RSIActionNONE, etc...) 2) Event Trigger (trigger polarity such as active HIGH and active LOW) 3) Direction Flag ("ENABLED" will cause the command direction of motion to qualify the events, "DISABLED" will ignore direction, based solely on the limit input state) 4) Duration (the limit condition will exist for a programmable number of seconds before an event occurs)

Precondition

This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.

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.

 
#include "rsi.h" // Import our RapidCode Library. 
#include "SampleAppsHelper.h"                        // Import our SampleApp helper functions.
#include "SampleApps.h"
 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace
 
int HardwareLimits::Run()
{
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
 
  // Axis configuration parameters
  const int AXIS_COUNT = 1;                         // Specify how many axes we will be using in this sample.
  const int AXIS_NUMBER = 0;                        // Specify which axis/motor we will be controlling.
 
  const double USER_UNITS = 1048576;                // Specify your counts per unit / user units. (the motor used in this example has 1048576 encoder pulses per revolution)
 
  // Hardware Limit configuration parameters
  const bool ACTIVE_HIGH = true;                  // Constant for active high.
  const bool ACTIVE_LOW = false;                  // Constant for active low.
  const double HW_POS_DURATION_TIME = 0.01;       // Positive limit duration. (in seconds)
  const double HW_NEG_DURATION_TIME = 0.01;       // Negative limit duration. (in seconds)
 
  // To run with hardware, set the USE_HARDWARE flag to true AFTER you have configured the parameters above and taken proper safety precautions.
  USE_HARDWARE = false;
 
  // The rmpPath only needs to be set if the project directory is different than the rapid setup directory.
  // *NOTICE* When setting the rmpPath, be sure to uncomment the rmpPath arguement in MotionController::CreateFromSoftware() in the Run() function.
  const std::string rmpPath = "C:\\RSI\\X.X.X\\";            // Insert the path location of the RMP.rta (usually the RapidSetup folder)
 
  /* SAMPLE APP BODY */
  
  // Initialize MotionController class.
  MotionController* controller = MotionController::CreateFromSoftware(/*rmpPath*/);   // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
  SampleAppsHelper::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    SampleAppsHelper::SetupControllerForPhantoms(controller, AXIS_COUNT, { AXIS_NUMBER });
  }
 
  try
  {
    Axis* axis = controller->AxisGet(AXIS_NUMBER);                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
    SampleAppsHelper::CheckErrors(axis);                      // [Helper Function] Check that the axis has been initialize correctly.
 
    printf("Hardware Limits Example\n");
 
    // Change Hardware POSITIVE (+) Limit characteristicpp.
    axis->HardwarePosLimitActionSet(RSIAction::RSIActionE_STOP);                              // Set the positive limit action to E_STOP.
    printf("\nHardware Positive Limit Action set to %i", axis->HardwarePosLimitActionGet());
 
    axis->HardwarePosLimitTriggerStateSet(ACTIVE_HIGH);                                       // Set the positive limit trigger state to ACTIVE_HIGH.
    printf("\nHardware Positive Limit TriggerState set to %i", axis->HardwarePosLimitTriggerStateGet());
 
    axis->HardwarePosLimitDurationSet(HW_POS_DURATION_TIME);                                  // Set the positive limit duration to 0.01 seconds.
    printf("\nHardware Positive Limit Duration set to %f seconds", axis->HardwarePosLimitDurationGet());
 
    // Change Hardware NEGATIVE (-) Limit charateristicpp.
    axis->HardwareNegLimitActionSet(RSIAction::RSIActionE_STOP);                              // Set the negative limit action to E_STOP.
    printf("\nHardware Negative Limit Action set to %i", axis->HardwareNegLimitActionGet());
 
    axis->HardwareNegLimitTriggerStateSet(ACTIVE_LOW);                                        // Set the negative limit trigger state to ACTIVE_LOW.
    printf("\nHardware Negative Limit TriggerState set to %i", axis->HardwareNegLimitTriggerStateGet());
 
    axis->HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME);                                  // Set the negative limit duration to 0.01 seconds.
    printf("\nHardware Negative Limit Duration set to %f seconds", axis->HardwareNegLimitDurationGet());
 
    printf("\nAll Hardware Limit characteristicpp set\n");
  }
  catch (RsiError const& err)
  {
    printf("\n%s\n", err.text);
    return -1;
  }
  controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
  return 0;
}