userlimit-digital-input-two-condition.cs

/*  This sample demonstrates how to configure a user limit triggered by two digital inputs.
    Uses AND logic - both inputs must be high for the output to activate.
    
    The RMP controller's User Limits compare two different input bits to specific values (high=1 or low=0).
    When both conditions match (using AND logic), the specified output bit is activated (turns high).
    
    In this example:
    - Two conditions are configured via UserLimitConditionSet() to monitor two separate inputs
    - Both inputs must turn high (1) to trigger the user limit
    - When triggered, UserLimitOutputSet() activates the output to high (1)
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 User Limit: Digital Input Two Condition");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // configure user limits
    controller.UserLimitCountSet(1);     // set the amount of user limits to use
    controller.InterruptEnableSet(true); // enable user limit interrupts
 
    // create simulated io using user buffer memory
    ulong userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0);
    IOPoint input0  = IOPoint.CreateDigitalInput(controller, userBufferAddress,  bitNumber: 0);
    IOPoint input1  = IOPoint.CreateDigitalInput(controller, userBufferAddress,  bitNumber: 1);
    IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, bitNumber: 2);
 
    Helpers.CheckErrors(input0);
    Helpers.CheckErrors(input1);
    Helpers.CheckErrors(output0);
 
    // configure first input condition (condition 0)
    controller.UserLimitConditionSet(
        number:           0,
        conditionNumber:  0,
        logic:            RSIUserLimitLogic.RSIUserLimitLogicEQ,
        addressOfUInt32:  input0.AddressGet(),
        userLimitMask:    (uint)input0.MaskGet(),
        limitValueUInt32: (uint)input0.MaskGet());
 
    // configure second input condition (condition 1)
    controller.UserLimitConditionSet(
        number:           0,
        conditionNumber:  1,
        logic:            RSIUserLimitLogic.RSIUserLimitLogicEQ,
        addressOfUInt32:  input1.AddressGet(),
        userLimitMask:    (uint)input1.MaskGet(),
        limitValueUInt32: (uint)input1.MaskGet());
 
    // configure user limit settings (AND logic for both conditions)
    controller.UserLimitConfigSet(
        number:      0,
        triggerType: RSIUserLimitTriggerType.RSIUserLimitTriggerTypeCONDITION_AND,
        action:      RSIAction.RSIActionNONE,
        actionAxis:  0,
        duration:    0);
 
    // configure user limit output
    controller.UserLimitOutputSet(
        number:    0,
        andMask:   (uint)output0.MaskGet(),
        orMask:    (uint)output0.MaskGet(),
        outputPtr: output0.AddressGet(),
        enabled:   true);
 
    Console.WriteLine("Waiting for both inputs to trigger...");
 
    // verify output is initially off
    if (output0.Get())
        throw new Exception("ERROR: Output should not be triggered yet");
 
    // set first input high (bit 0 only) - AND condition not met
    controller.MemorySet(input0.AddressGet(), 0b0001);  // only bit 0 is high
    
    if (output0.Get())
        throw new Exception("ERROR: Output should not trigger with only one input");
 
    // set BOTH inputs high (bits 0 and 1) - AND condition met
    controller.MemorySet(input1.AddressGet(), 0b0011);  // both bit 0 AND bit 1 are high
 
    // wait for user limit interrupt to confirm trigger
    if (controller.InterruptWait(1000) != RSIEventType.RSIEventTypeUSER_LIMIT)
        throw new Exception("ERROR: User limit did not trigger when both inputs were high");
 
    // verify output was activated
    if (!output0.Get())
        throw new Exception("ERROR: Output should be high after user limit triggered");
 
    Console.WriteLine("✓ User limit triggered successfully - both inputs high, output activated");
 
    // cleanup
    controller.UserLimitDisable(0);
    output0.Set(false);
 
    Console.WriteLine("\nUser limit digital input two condition complete.");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}