userlimit-feedrate.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 to change the feed rate when the axis reaches a specified position.
    The user limit triggers when the command position exceeds the trigger value.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 User Limit: Feed Rate Change at Position");
 
int exitCode = 0;
 
// set sample config params
const int CONDITION = 0;
const double POSITION_TRIGGER_VALUE = 5.0;
const double DEFAULT_FEED_RATE = 1.0;
const double DESIRED_FEED_RATE = 2.0;
const int DURATION = 0;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    // configure user limits
    controller.UserLimitCountSet(1);
    controller.InterruptEnableSet(true);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
    if (!Constants.USE_HARDWARE) Helpers.PhantomAxisReset(axis);
    axis.PositionSet(0);
 
    // set initial feed rate
    axis.FeedRateSet(DEFAULT_FEED_RATE);
 
    Console.WriteLine($"Initial Feed Rate: {axis.FeedRateGet()}");
 
    double encoderMultiplier = Constants.USE_HARDWARE ? Constants.AXIS_0_USER_UNITS : 1.0;
 
    // configure user limit condition (trigger when position > POSITION_TRIGGER_VALUE)
    controller.UserLimitConditionSet(
        number:           0,
        conditionNumber:  CONDITION,
        logic:            RSIUserLimitLogic.RSIUserLimitLogicGT,
        addressOfDouble:  axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION),
        limitValueDouble: POSITION_TRIGGER_VALUE * encoderMultiplier);
 
    // configure user limit settings
    controller.UserLimitConfigSet(
        number:      0,
        triggerType: RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION,
        action:      RSIAction.RSIActionNONE,
        actionAxis:  axis.NumberGet(),
        duration:    DURATION);
 
    // configure user limit output to change feed rate
    controller.UserLimitOutputSet(
        number:           0,
        limitValueDouble: DESIRED_FEED_RATE,
        outputPtr:        axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTARGET_FEEDRATE),
        enabled:          true);
 
    Console.WriteLine($"Moving to position {POSITION_TRIGGER_VALUE + 1}...");
    Console.WriteLine($"Feed rate will change to {DESIRED_FEED_RATE} when position > {POSITION_TRIGGER_VALUE}");
 
    // start motion past the trigger position
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    axis.MoveSCurve(POSITION_TRIGGER_VALUE + 1);
    axis.MotionDoneWait();
 
    // verify feed rate changed
    double finalFeedRate = axis.FeedRateGet();
    Console.WriteLine($"Final Feed Rate: {finalFeedRate}");
 
    if (finalFeedRate == DESIRED_FEED_RATE)
        Console.WriteLine("✓ User limit triggered - feed rate changed successfully");
    else
        Console.WriteLine($"✗ Feed rate did not change (expected: {DESIRED_FEED_RATE}, actual: {finalFeedRate})");
 
    // cleanup
    Helpers.AbortMotionObject(axis);
    controller.UserLimitDisable(0);
    controller.UserLimitCountSet(0);
 
    Console.WriteLine("\nUser limit feed rate change 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;