The RMP Motion Controller APIs

◆ InterruptWait()

RSIEventType InterruptWait ( int32_t  milliseconds)
inherited
Description:
InterruptWait suspends the current thread until an interrupt arrives from the controller. This is commonly used while waiting for specific interrupts such as Motion Done, velocity reached, or recorder done. Please see RSIEventType for options. You can specify an extact wait time or use RSIWait.
Parameters
millisecondsMilliseconds to wait -or- an RSIWait value to return immediately or wait forever.
Returns
(RSIEventType) Event which takes place or RSIEventTypeTIMEOUT event after time elapses.
Remarks
This function is also available in RapidSequencer.
Sample Code:
UserLimitCommandPositionDirectSet
// 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;
}
}
}
Note
InterruptWait will return logged Interrupts until there are none in the FIFO buffer. Then it begin waiting with a timeout for the next.
See also
RapidCodeMotion::InterruptEnableSet, MotionController::InterruptEnableSet, RapidCodeMotion::InterruptWake, MotionController::InterruptWake
Examples
ControllerInterrupts.cpp.
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition: rsienums.h:873
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition: rsienums.h:620
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition: rsienums.h:607
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition: rsienums.h:408
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition: rsienums.h:1013
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition: rsienums.h:423