User Limits: on Digital Input

User Limit Digital Input Action sample application.

s sample code shows how to configure the XMP controller's User Limits to compare an input bit to a specific pattern. the pattern matches, then the specified output bit is activated and a User Event is generated to the host.

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 UserLimitDigialInputAction::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)
 
  const int IO_NODE_NUMBER = 0; // which SqNode to use for I/O?
  const int USER_LIMIT = 0; // which user limit to use?
  const int CONDITION = 0; // which condition to use (0 or 1)
  const int INPUT_BIT_NUMBER = 0; // which input bit?
 
  // 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;
 
  /* SAMPLE APP BODY */
 
  // Initialize MotionController class.
  MotionController* controller = MotionController::CreateFromSoftware();
  SampleAppsHelper::CheckErrors(controller);
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    std::cout << "This sample app cannot be run without hardware." << std::endl;
    return 0;
  }
 
  // RapidCode interface classes
  IO* io;
  IOPoint* digitalInput;
  try
  {
    // Create a new User Limit
    controller->UserLimitCountSet(1);
 
    // initialize the I/O class
    io = controller->IOGet(IO_NODE_NUMBER);
    SampleAppsHelper::CheckErrors(io);
 
    digitalInput = IOPoint::CreateDigitalInput(io, INPUT_BIT_NUMBER);
 
    auto addr = digitalInput->AddressGet();
    auto mask1 = digitalInput->MaskGet();
    auto mask2 = digitalInput->MaskGet();
 
    // configure user limit to evaluate input bit
    controller->UserLimitConditionSet(USER_LIMIT,
      CONDITION,
      RSIUserLimitLogic::RSIUserLimitLogicEQ,
      digitalInput->AddressGet(),
      digitalInput->MaskGet(),
      digitalInput->MaskGet());
 
    // enable the user limit, generate ESTOP_ABORT action when input is turned on
    controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION, RSIAction::RSIActionE_STOP_ABORT, AXIS_NUMBER, 0.0);
 
    printf("Waiting for the input bit to go high...\n");
    printf("\nPress Any Key To Exit.\n");
 
    // wait for user limit to trigger
    while (controller->OS->KeyGet((int32_t)RSIWait::RSIWaitPOLL) < 0)
    {
      printf("User Limit state is %d\r", controller->UserLimitStateGet(USER_LIMIT));
      controller->OS->Sleep(1);
    }
 
    // disable User Limit
    controller->UserLimitDisable(USER_LIMIT);
  }
  catch (RsiError const& rsiError)
  {
    printf("Text:  %s\n", rsiError.text);
    return -1;
  }
  controller->Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
  return 0;
}