userlimit-position-abort.cs

/*  This sample demonstrates how to configure a user limit to abort motion when a specified position is reached.
    The user limit triggers when the command position exceeds the trigger value and executes an abort action.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 User Limit: Position Abort");
 
// set sample config params
const int USER_LIMIT_NUMBER = 0;
const double TRIGGER_POSITION = 5.0;
const double MOVE_POSITION = 10.0;  // must be past the trigger position
const int OUTPUT_INDEX = 1;
const int WAIT_FOR_TRIGGER_MILLISECONDS = 1000;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // configure user limits
    controller.UserLimitCountSet(1);
    controller.InterruptEnableSet(true);
 
    // create simulated output
    ulong userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0);
    IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX);
    output0.Set(false);  // start with output off
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
    Helpers.PhantomAxisReset(axis);
 
    // configure user limit condition (trigger when position > TRIGGER_POSITION)
    controller.UserLimitConditionSet(
        number:           USER_LIMIT_NUMBER,
        conditionNumber:  0,
        logic:            RSIUserLimitLogic.RSIUserLimitLogicGT,
        addressOfDouble:  axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION),  // for real axis use actual position
        limitValueDouble: TRIGGER_POSITION);
 
    // configure user limit settings (abort action)
    controller.UserLimitConfigSet(
        number:      USER_LIMIT_NUMBER,
        triggerType: RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION,
        action:      RSIAction.RSIActionABORT,
        actionAxis:  axis.NumberGet(),
        duration:    0);
 
    // configure user limit output
    controller.UserLimitOutputSet(
        number:    USER_LIMIT_NUMBER,
        andMask:   (uint)output0.MaskGet(),
        orMask:    (uint)output0.MaskGet(),
        outputPtr: output0.AddressGet(),
        enabled:   true);
 
    Console.WriteLine($"Moving to position {MOVE_POSITION}...");
    Console.WriteLine($"User limit will trigger abort at position {TRIGGER_POSITION}");
 
    if (output0.Get())
        Console.WriteLine("ERROR: Output should not be triggered yet");
 
    // start motion
    axis.AmpEnableSet(true);
    axis.MoveSCurve(MOVE_POSITION);
 
    // wait for user limit interrupt
    RSIEventType interruptType = controller.InterruptWait(WAIT_FOR_TRIGGER_MILLISECONDS);
 
    if (interruptType == RSIEventType.RSIEventTypeUSER_LIMIT)
    {
        // note: object number for user_limit interrupts is unscaled, add axis count since there's one user limit per axis
        int interruptSource = controller.InterruptSourceNumberGet();
        int expectedSource = USER_LIMIT_NUMBER + 1;  // account for extra user limit per axis
 
        if (interruptSource == expectedSource)
        {
            Console.WriteLine($"✓ User limit triggered - abort executed");
            Console.WriteLine($"  Interrupt source: {interruptSource}");
            
            if (output0.Get())
                Console.WriteLine("  Output activated successfully");
            else
                Console.WriteLine("  WARNING: Output was not activated");
        }
        else
        {
            Console.WriteLine($"✗ Got USER_LIMIT interrupt but wrong source (expected: {expectedSource}, actual: {interruptSource})");
        }
    }
    else
    {
        Console.WriteLine($"✗ Expected USER_LIMIT interrupt but got {interruptType}");
    }
 
    // cleanup
    output0.Set(false);
    controller.UserLimitDisable(USER_LIMIT_NUMBER);
    controller.UserLimitCountSet(0);
 
    Console.WriteLine("\nUser limit position abort complete.");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}