MotionHoldTypeSet()

void MotionHoldTypeSet

(

RSIMotionHoldType

type

)

Description:

MotionHoldTypeSet sets the motion hold type.

Parameters

type	Use RSIMotionAttrHoldType.

Remarks

This function is also available in RapidSequencer.

Part of the Motion Configuration method group.

Sample Code:

MotionHoldByDigitalInput

    // Constants
    const int DIGITAL_INPUTS_PDO_INDEX = 3;     // Specify the pdo inputs index that represent digital inputs.
 
    // SET MOTION HOLD
    ulong inputAddress = controller.NetworkInputAddressGet(DIGITAL_INPUTS_PDO_INDEX); // Get host address using the PDO Input Index of Digital Inputs.
 
    axis.MotionHoldTypeSet(RSIMotionHoldType.RSIMotionHoldTypeCUSTOM);      // Use TypeCUSTOM to hold execution based on a particular bit turning ON or OFF.
    axis.MotionHoldUserAddressSet(inputAddress);                            // Specify the digital inputs host address. This address' value will be used to evaluate the motion hold condition.
    axis.MotionHoldUserMaskSet(0x20000);                                    // Specify the bit you want to mask/watch from the MotionHoldUserAddressSet' address value (this evaluates using a logic AND)
    axis.MotionHoldUserPatternSet(0x20000);                                 // Specify the bit value that will release the motion hold. (When this value is met, motion hold will be released)
 
    axis.MotionAttributeMaskOnSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD); // Set the HOLD motion attribute mask ON. (This initializes the HOLD on a particular motion)
 
    axis.MoveRelative(10);                                                  // Command simple relative motion. (This motion will be HOLD by the condition above)
    axis.MotionDoneWait();                                                  // Wait for Motion to be completed.
 
    axis.MoveRelative(10);                                                  // If motion attribute mask off has not been set, this motion will have same HOLD condition as previous move.
    axis.MotionDoneWait();                                                  // Wait for Motion to be completed.
 
    axis.MotionAttributeMaskOffSet(RSIMotionAttrMask.RSIMotionAttrMaskHOLD);// Set the HOLD motion attribute mask OFF. (This will clear any motion HOLDS that were set on this Axis)
 
    axis.MoveRelative(10);                                                  // This motion will have no HOLD since the previous line has set the motion attribute mask OFF.
    axis.MotionDoneWait();                                                  // Wait for Motion to be completed.
 
    // Abort and Clear Faults 
    axis.Abort();
    axis.ClearFaults();

Note

To hold execution of motion, you can use Motion Hold.

If you need to hold execution based on a particular bit turning ON or OFF, use RSIMotionAttrHoldTypeUSER_ADDRESS. With RSIMotionAttrHoldTypeUSER_ADDRESS, the logic in the MotionController firmware goes something like this:

andResult = ( userAddressValue & mask);
 
if (andResult == pattern)
 
  releaseHold();

If using RSIMotionAttrHoldTypeUSER_ADDRESS or GATE, be sure to set RSIMotionAttrMaskHOLD before starting motion.

If using RSIMotionAttrHoldTypeAXIS_POSITION_COMMAND be sure to set RSIMotionAttrMaskHOLD or LESS before starting motion.

See also

MotionHoldTypeGet

Examples

MotionHoldReleasedBySoftwareAddress.cpp.