userlimit-estop-store-position.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 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");
 
int exitCode = 0;
 
// set sample config params
const int AXIS_INDEX = Constants.AXIS_0_INDEX;
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);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    int initialAxisCount = controller.AxisCountGet();
 
    // 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(AXIS_INDEX);
    Helpers.CheckErrors(axis);
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);
    axis.PositionSet(0);
    axis.ClearFaults();
 
    // start velocity motion
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    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: (uint)input0.MaskGet());
 
    // 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() - initialAxisCount;  // 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();
    axis.AmpEnableSet(false, Constants.AMP_ENABLE_MS);
    controller.UserLimitDisable(0);
    controller.UserLimitCountSet(0);
 
    Console.WriteLine("\nUser limit E-Stop store position complete.");
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;