MotionHoldReleasedByPosition.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
#include <thread>                                   // std::this_thread::sleep_for

void MotionHoldReleasedByPositionMain()
{
    using namespace RSI::RapidCode;

    // Constants
    const int       HOLDING_AXIS_INDEX = 1;    // Specify which axis/motor to control.
    const int       MOVING_AXIS_INDEX = 0;     // Specify which axis/motor to control.
    const double    TRIGGER_POS = 5;           // Specify the position that will be evaluted on triggering/releasing motion
    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.
        controller->AxisCountSet(2);                                            // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.

        // initialize Axis class  
        Axis *holdingAxis = controller->AxisGet(HOLDING_AXIS_INDEX);            // Initialize master Class. (Use RapidSetup Tool to see what is your axis number)
        Axis *movingAxis = controller->AxisGet(MOVING_AXIS_INDEX);              // Initialize slave Class.

        SampleAppsCPP::HelperFunctions::CheckErrors(holdingAxis);               // [Helper Function] Check that the master axis has been initialize correctly.
        SampleAppsCPP::HelperFunctions::CheckErrors(movingAxis);                // [Helper Function] Check that the slave axis has been initialize correctly.

        // GET HOLD AXIS READY
        holdingAxis->UserUnitsSet(USER_UNITS);                                           // Specify the counts per Unit.
        holdingAxis->PositionSet(0);                                                     // Make sure motor starts at position 0 everytime.
        holdingAxis->ErrorLimitTriggerValueSet(1000);                                    // Specify the position error limit trigger. (Learn more about this on our support page)
        holdingAxis->Abort();                                                            // If there is any motion happening, abort it.
        holdingAxis->ClearFaults();                                                      // Clear faults.>
        holdingAxis->AmpEnableSet(true);                                                 // Enable the motor.

        // GET MOVE AXIS READY
        movingAxis->ErrorLimitActionSet(RSIAction::RSIActionNONE);                       // If NOT using a Phantom Axis, switch to RSIActionABORT
        movingAxis->UserUnitsSet(USER_UNITS);                                            // Specify the counts per Unit.
        movingAxis->PositionSet(0);                                                      // Make sure motor starts at position 0 everytime.
        movingAxis->ErrorLimitTriggerValueSet(1000);                                     // Specify the position error limit trigger. (Learn more about this on our support page)
        movingAxis->Abort();                                                             // If there is any motion happening, abort it.
        movingAxis->ClearFaults();                                                       // Clear faults.>
        movingAxis->AmpEnableSet(true);                                                  // Enable the motor.

        // 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(USER_UNITS * 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(10);                                                               // 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(10);                                             // 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();                                           // Wait for motion to be completed. Uncomment when not using phantom axis.
        //holdingAxis->MotionDoneWait();                                          // Wait for motion to be completed. Uncomment when not using phantom axis.
        std::this_thread::sleep_for(std::chrono::seconds(1));                     // Allow time motion to be completed. Use MotionDoneWait() when not using phantom axis

        // Abort and Clear Faults 
        holdingAxis->Abort();
        holdingAxis->ClearFaults();
        movingAxis->Abort();
        movingAxis->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.
}