The RMP Motion Controller API

◆ MotionAttributeMaskOnSet()

virtual void MotionAttributeMaskOnSet ( RSIMotionAttrMask  maskOn)
pure virtual

Turn on a particular motion attribute mask.

MotionAttributeMaskOnSet turns on a particular motion attribute mask.
maskOnRSIMotionAttrMask value we want to turn on.

ℹ This function is avaliable in RapidCode and RapidSequencer

Part of the Motion Configuration method group.

Sample Code:
// Constants
const int DIGITAL_INPUTS_PDO_INDEX = 3; // Specify the pdo inputs index that represent digital inputs.
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
You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
See also
RSIMotionAttrMask, MotionAttributeMaskOnGet, MotionAttributeMaskOffSet
MotionHoldReleasedBySoftwareAddress.cpp, and MultiaxisMotion.cpp.