UserLimitCommandPositionDirect.cs

using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using NUnit.Framework;
using System;
 
[TestFixture]
[Category("Software")]
public class UserLimitCommandPositionDirect : StaticMemoryTestBase
  {
    // Constants
    const int AXIS_COUNT = 1;
    const int USER_LIMIT_FIRST = 0;                                                                     // Specify which user limit to use.
    const int USER_LIMIT_SECOND = 1;
    const int USER_LIMIT_COUNT = 2;
    const RSIUserLimitLogic LOGIC = RSIUserLimitLogic.RSIUserLimitLogicEQ;                              // Logic for input value comparison.
    const RSIUserLimitTriggerType TRIGGER_TYPE = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;       // Choose the how the condition (s) should be evaluated. 
    const RSIAction ACTION = RSIAction.RSIActionTRIGGERED_MODIFY;                                       // Choose the action you want to cause when the User Limit triggers.
 
    const int DURATION = 0;                                                                             // Enter the time delay before the action is executed after the User Limit has triggered.
    const bool ONE_SHOT = true;                                                                         // if true, User Limit will only trigger ONCE
 
    // User Limit Interrupt constants
    const int COMMAND_POSITION_INDEX = 0;
    const int ACTUAL_POSITION_INDEX = 1;
    const int TC_COMMAND_POSITION_INDEX = 2;
    const int TC_ACTUAL_POSITION_INDEX = 3;
 
    public void UserLimitCommandPositionDirectSet()
    {
      // Some Necessary Pre User Limit Configuration
      controller.AxisCountSet(AXIS_COUNT);
      controller.UserLimitCountSet(USER_LIMIT_COUNT);   // Set the amount of UserLimits that you want to use.
      axis = CreateAndReadyAxis(Constants.AXIS_NUMBER); // Initialize your axis object.
 
      // set the triggered modify values to stop very quickly
      axis.TriggeredModifyDecelerationSet(Constants.DECELERATION);
      axis.TriggeredModifyJerkPercentSet(Constants.JERK_PERCENT);
 
      // USER LIMIT CONDITION 0 (trigger on digital input)
      controller.UserLimitConditionSet(USER_LIMIT_FIRST, 0, LOGIC, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeDIGITAL_INPUTS), 0x400000, 0x400000); // Set your User Limit Condition (1st step to setting up your user limit)
 
      // controller.UserLimitOutputSet(USER_LIMIT_FIRST, RSIDataType.RSIDataTypeDOUBLE,  axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTC_ACTUAL_POSITION), controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER), true);
 
      controller.UserLimitConfigSet(USER_LIMIT_FIRST, TRIGGER_TYPE, ACTION, axis.NumberGet(), DURATION, ONE_SHOT); // Set your User Limit Configuration. (2nd step to setting up your user limit)
 
      // CONDITION 0  (wait for first user limit to trigger)
      controller.UserLimitConditionSet(USER_LIMIT_SECOND, 0, RSIUserLimitLogic.RSIUserLimitLogicEQ, controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSERLIMIT_STATUS, USER_LIMIT_FIRST), 1, 1);
 
      // CONDITION 1 (AND wait for Axis command velcity = 0.0)
      controller.UserLimitConditionSet(USER_LIMIT_SECOND, 1, RSIUserLimitLogic.RSIUserLimitLogicEQ, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_VELOCITY), 0.0);
 
      // OUTPUT (copy value from UserBuffer to TC.CommandPosition when trigered)
      //controller.UserLimitOutputSet(USER_LIMIT_SECOND, RSIDataType.RSIDataTypeDOUBLE, controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER), axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTC_COMMAND_POSITION), true);
      controller.UserLimitConfigSet(USER_LIMIT_SECOND, RSIUserLimitTriggerType.RSIUserLimitTriggerTypeCONDITION_AND, RSIAction.RSIActionNONE, 0, 0, ONE_SHOT);
 
      // get the Axis moving
      axis.ClearFaults();
      axis.AmpEnableSet(true);
      axis.MoveVelocity(Constants.VELOCITY, Constants.ACCELERATION);
 
      // configure and enable interrupts
      ConfigureUserLimitInterrupts(USER_LIMIT_FIRST);
      ConfigureUserLimitInterrupts(USER_LIMIT_SECOND);
      controller.InterruptEnableSet(true);
 
      // wait for (and print) interrupts
      WaitForInterrupts();
    }
 
    public void ConfigureUserLimitInterrupts(int userLimitIndex)
    {
      controller.UserLimitInterruptUserDataAddressSet(userLimitIndex, COMMAND_POSITION_INDEX, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION));
      controller.UserLimitInterruptUserDataAddressSet(userLimitIndex, ACTUAL_POSITION_INDEX, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeACTUAL_POSITION));
    }
 
    public void WaitForInterrupts()
    {
      bool done = false;
      int timeout_millseconds = 10;
 
      while (!done)
      {
        RSIEventType eventType = controller.InterruptWait(timeout_millseconds);
 
        Console.WriteLine("IRQ: " + eventType.ToString() + " at sample " + controller.InterruptSampleTimeGet());
 
        switch (eventType)
        {
          case RSIEventType.RSIEventTypeUSER_LIMIT:
            Console.WriteLine("UserLimit " + controller.InterruptSourceNumberGet());
            Console.WriteLine("CmdPos: " + controller.InterruptUserDataDoubleGet(COMMAND_POSITION_INDEX));
            Console.WriteLine("ActPos: " + controller.InterruptUserDataDoubleGet(ACTUAL_POSITION_INDEX));
            Console.WriteLine("TC.CmdPos: " + controller.InterruptUserDataDoubleGet(TC_COMMAND_POSITION_INDEX));
            Console.WriteLine("TC.ActPos: " + controller.InterruptUserDataDoubleGet(TC_ACTUAL_POSITION_INDEX));
            break;
          case RSIEventType.RSIEventTypeTIMEOUT:
            done = true;
            break;
          default:
            break;
        }
      }
    }
  }