MotionHoldReleasedByDigitalInput.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
void MotionHoldReleasedByDigitalInputMain()
{
    using namespace RSI::RapidCode;

    // Constants
    const int DIGITAL_INPUTS_PDO_INDEX = 3;         // Specify the pdo inputs index that represent digital inputs.
    const int AXIS_NUMBER = 0;                      // Specify which axis/motor to control.
    const int USER_UNITS = 1048576;                 // Specify USER UNITS

    char rmpPath[] = "C:\\RSI\\X.X.X\\";            // Insert the path location of the RMP.rta (usually the RapidSetup folder)
    // Initialize MotionController class.
    MotionController   *controller = MotionController::CreateFromSoftware(/*rmpPath*/);   // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 

    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);           // [Helper Function] Initialize the network.
        Axis *axis = controller->AxisGet(AXIS_NUMBER);                         // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                     // [Helper Function] Check that the axis has been initialize correctly.

        // GET AXIS READY
        axis->UserUnitsSet(USER_UNITS);                                        // Specify the counts per Unit.
        axis->PositionSet(0);                                                  // Make sure motor starts at position 0 everytime.
        axis->ErrorLimitActionSet(RSIAction::RSIActionNONE);                   // Uncomment when using Phantom Axes.
        axis->Abort();                                                         // If there is any motion happening, abort it.
        axis->ClearFaults();                                                   // Clear faults.>
        axis->AmpEnableSet(true);                                              // Enable the motor.

        // SET MOTION HOLD
        long  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();

    }
    catch (RsiError const& err)
    {
        printf("%s\n", err.text);                                                  // If there are any exceptions/issues this will be printed out.
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}