MotionHoldAxisPositionGet()

double MotionHoldAxisPositionGet

(

)

Description:

MotionHoldAxisPositionGet gets the position of the Axis which has a Hold.

Returns

(double) Hold's Axis Actual Position in User Units.

Remarks

This function is also available in RapidSequencer.

Part of the Motion Configuration method group.

Sample Code:

MotionHoldByPosition

    // Constants
    const double TRIGGER_POS     = 1; // Specify the position that will be evaluted on triggering/releasing motion
    const int MOVING_AXIS_TARGET = 10;
    const int HOLDINGAXIS_TARGET = 2;
 
    // Initialize RapidCode Objects
    // Initiazlize Axes: holdingAxis and movingAxis 
    Axis holdingAxis = controller.AxisGet(Constants.HOLDING_AXIS_INDEX);                     // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
    HelperFunctions.CheckErrors(holdingAxis);                                   // [Helper Function] Check that the axis has been initialize correctly.
 
    Axis movingAxis = controller.AxisGet(Constants.MOVING_AXIS_INDEX);                       // Initialize HoldAxis Class. (Use RapidSetup Tool to see what is your axis number)
    HelperFunctions.CheckErrors(movingAxis);                                    // [Helper Function] Check that the axis has been initialize correctly.
 
    // SET UP MOTION HOLD                                                                    // Condition/Configuration to the Axis(movingAxis) that will hold Motion and its Position that will trigger/release motion
    holdingAxis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeAXIS_COMMAND_POSITION); // Use RSIMotionHoldTypeAXIS_ACTUAL_POSITION if it is not Phantom Axis.
    holdingAxis.MotionHoldAxisNumberSet(movingAxis.NumberGet());                             // Specify motion hold to the Axis(movingAxis) whose position will hold the motion of holdingAxis.
    holdingAxis.MotionHoldAxisPositionSet(TRIGGER_POS);                                      // Specify motion hold position which is the movingAxis's position(need to multiply with USER_UNITS to get correct position value) to trigger/release the motion of holdingAxis.
    holdingAxis.MotionHoldAxisLogicSet(RSIUserLimitLogic.RSIUserLimitLogicGE);               // Specify the logic condition that will be evaluated to trigger/release motion based on the SET POSITION(USER_UNITS * TRIGGER_POS).In this case, GT(Greater than or Equal to) motion hold position limit to release
 
    // SET MOTION HOLD ON
    holdingAxis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);           // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
    holdingAxis.MoveRelative(HOLDINGAXIS_TARGET);                                            // Command simple relative motion(This motion will be hold by condition above until movingAxis's Position passes motion hold position limit)
 
    // Release MOTION HOLD
    movingAxis.MoveRelative(MOVING_AXIS_TARGET); // Move movingAxis.MovingAxis's position reaches its MotionHold Position limit(in this case, limit is 5). It will trigger/release motion on holdingAxis (holidingAxis will move relatively 10).
    movingAxis.MotionDoneWait();
    holdingAxis.MotionDoneWait();

See also

MotionHoldAxisPositionSet()