MotionHoldReleasedByDigitalInput.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using RSI.RapidCode.dotNET.Enums;
using System;

namespace SampleAppsCS
{
    class MotionHoldReleasedByDigitalInput
    {
        static void Main(string[] args)
        {

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

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);    // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialize correctly.

            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.

            Axis axis = controller.AxisGet(AXIS_INDEX);                                                  // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                         // [Helper Function] Check that the axis has been initialize correctly.


            try
            {
                // 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
                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();

            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);                                                       // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}