userlimit-estop-store-position.cs

/*  This sample demonstrates how to configure a user limit that triggers an E-Stop when a digital input goes high.
    The axis command position is stored when the user limit triggers.
    Example uses Beckhoff IO Terminals (EL1088 for inputs).
    Check your digital IO signal indexes in RapidSetup -> Tools -> NetworkIO.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 User Limit: EStop and Store Position");
 
// set sample config params
const int AXIS_INDEX = 0;
const int INPUT_INDEX = 0;
const int CONDITION = 0;
const int USER_DATA_INDEX = 0;
const double DURATION = 0.125;  // time delay before action executes (seconds)
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // configure user limits
    controller.UserLimitCountSet(1);
    controller.InterruptEnableSet(true);
 
    // create simulated io using user buffer memory
    ulong userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0);
    IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX);
    Helpers.CheckErrors(input0);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
    Helpers.PhantomAxisReset(axis);
 
    // start velocity motion
    axis.AmpEnableSet(true);
    axis.MoveVelocity(velocity: 10.0, accel: 20.0);
 
    // configure user limit condition
    controller.UserLimitConditionSet(
        number:           0,
        conditionNumber:  CONDITION,
        logic:            RSIUserLimitLogic.RSIUserLimitLogicEQ,
        addressOfUInt32:  input0.AddressGet(),
        userLimitMask:    (uint)input0.MaskGet(),
        limitValueUInt32: 1);
 
    // configure user limit settings (e-stop action)
    controller.UserLimitConfigSet(
        number:      0,
        triggerType: RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION,
        action:      RSIAction.RSIActionE_STOP_ABORT,
        actionAxis:  AXIS_INDEX,
        duration:    DURATION);
 
    // configure user data to store axis command position
    controller.UserLimitInterruptUserDataAddressSet(
        number:        0,
        userDataIndex: USER_DATA_INDEX,
        address:       axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION));
 
    Console.WriteLine("Axis moving... waiting for input trigger to E-Stop");
 
    // wait for user limit to trigger
    while (controller.InterruptWait(250) != RSIEventType.RSIEventTypeUSER_LIMIT)
    {
        // simulate input trigger
        controller.MemorySet(input0.AddressGet(), 1);
    }
    
    // wait for motion to stop
    axis.MotionDoneWait();
 
    // get the stored position data
    int triggeredUserLimit = controller.InterruptSourceNumberGet() - 1;  // account for extra user limit per axis
    double interruptPosition = controller.InterruptUserDataDoubleGet(USER_DATA_INDEX);
    double positionInUserUnits = interruptPosition / axis.UserUnitsGet();
 
    Console.WriteLine($"✓ User limit triggered - E-Stop executed");
    Console.WriteLine($"  Triggered User Limit: {triggeredUserLimit}");
    Console.WriteLine($"  Position at trigger: {positionInUserUnits} (user units)");
 
    // cleanup
    axis.Abort();
    controller.UserLimitDisable(0);
    controller.UserLimitCountSet(0);
 
    Console.WriteLine("\nUser limit E-Stop store position complete.");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}