userlimit-digital-input-two-condition.cs

Note

See IO: User Limits 📜 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 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
}