InterruptUserDataDoubleGet()

double InterruptUserDataDoubleGet ( uint32_t  userDataIndex )

inherited

Description:

InterruptUserDataGet returns the floating point, double precision user data from the interrupt

Returns

(double) User data.

Sample Code:

      // Constants
      const int AXIS_INDEX = 0;                                                                   // This is the index of the axis you will use to command motion.
      const int INPUT_INDEX = 0;
      const int AXIS_COUNT = 1;                                                                   // Axes on the network.
      const int USER_LIMIT = 0;                                                                   // Specify which user limit to use.
      const int CONDITION = 0;                                                                    // Specify which condition to use. (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
      const RSIUserLimitLogic LOGIC = RSIUserLimitLogic.RSIUserLimitLogicEQ;                      // Logic for input value comparison.
      const int LIMIT_VALUE = 1;                                                                  // The value to be compared which needs to be set here.
      const RSIUserLimitTriggerType TRIGGER_TYPE = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;      // Choose the how the condition (s) should be evaluated. 
      const RSIAction ACTION = RSIAction.RSIActionE_STOP_ABORT;                                   // Choose the action you want to cause when the User Limit triggers.
      const double DURATION = 0.125;                                                              // Enter the time delay before the action is executed after the User Limit has triggered.
      const int USER_DATA_INDEX = 0;
 
      // Some Necessary Pre User Limit Configuration
      controller.AxisCountSet(1);
      controller.UserLimitCountSet(1);      // Set the amount of UserLimits that you want to use.
      controller.InterruptEnableSet(true);  // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)
 
      UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabing an memory address to store a simulated IO point.
 
      //Instead of using physical IO we will use simulated IO using a memory address as simulated IO. See the IO sample apps to see how to use a physical IO instead. 
      IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX);  // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
 
      axis = CreateAndReadyAxis(Constants.AXIS_NUMBER); // Initialize your axis object.
 
      axis.MoveVelocity(10.0, 20.0);  // Command a velocity move (Velocity=1.0, Acceleration=10.0).
 
      // USER LIMIT CONDITION
      controller.UserLimitConditionSet(USER_LIMIT, CONDITION, LOGIC, input0.AddressGet(), (uint)input0.MaskGet(), LIMIT_VALUE); // Set your User Limit Condition (1st step to setting up your user limit)
 
      // USER LIMIT CONFIGURATION
      controller.UserLimitConfigSet(USER_LIMIT, TRIGGER_TYPE, ACTION, AXIS_INDEX, DURATION);                                    // Set your User Limit Configuration. (2nd step to setting up your user limit)
 
      // USER LIMIT USER DATA SET
      controller.UserLimitInterruptUserDataAddressSet(USER_LIMIT,                                                               // Specify the user limit you want to add User Data for.
                                                      USER_DATA_INDEX,                                                          // Specify what user data index you would like to use. (must be a value from 0 to 4)
                                                      axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION));  // Specify the address of the data value you want to store in your User Data so that you can retrieve it later after the UserLimit limit triggers.
 
      // WAIT FOR DIGITAL INPUT TO TRIGGER USER LIMIT EVENT.
      while (controller.InterruptWait(250) != RSIEventType.RSIEventTypeUSER_LIMIT)        // Wait until your user limit triggers.
      {
        controller.MemorySet(input0.AddressGet(), 1);
      }
 
      int triggeredUserLimit = controller.InterruptSourceNumberGet() - AXIS_COUNT;        // Check that the correct user limit has triggered. (an extra user limit is allocated for each axis)
      double interruptPosition = controller.InterruptUserDataDoubleGet(USER_DATA_INDEX);  // Get the data stored in the interrupt's user data you configured.
 
      Console.WriteLine("TRIGGERED - User Limit Interrupt Position = " + interruptPosition / axis.UserUnitsGet()); // Get the position of the axis when it user limit event triggered.
 
      controller.UserLimitDisable(USER_LIMIT);

See also

UserLimitInterruptUserDataAddressSet