MotionHoldReleasedByPosition.cs

using RSI.RapidCode.dotNET;
using RSI.RapidCode.dotNET.Enums;
using System;

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

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);        // Insert the path location of the RMP.rta (usually the RapidSetup folder) (This sample app used RMP 8.0.1).
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                           // [Helper Function] Check that the controller has been initialize correctly.

            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                                       // [Helper Function] Initialize the network.
            controller.AxisCountSet(2);                                                                     // Specify two Axis in controller

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

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

            try
            {
                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.

                // 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();
                holdingAxis.MotionDoneWait();

                // Abort and Clear Faults 
                holdingAxis.Abort();
                holdingAxis.ClearFaults();
                movingAxis.Abort();
                movingAxis.ClearFaults();
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}