userlimit-feedrate.cs

/*  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");
 
// 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);
 
    // configure user limits
    controller.UserLimitCountSet(1);
    controller.InterruptEnableSet(true);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
    Helpers.PhantomAxisReset(axis);
 
    // set initial feed rate
    axis.FeedRateSet(DEFAULT_FEED_RATE);
 
    Console.WriteLine($"Initial Feed Rate: {axis.FeedRateGet()}");
 
    // 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);
 
    // 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);
    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.");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}