UserLimitDigitalInputEStopStorePosition.cs

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


namespace SampleAppsCS
{
    class UserLimitDigitalInputEStopStorePosition
    {
        static void Main(string[] args)
        {
            // RapidCode objects
            MotionController controller;                                                                                            // Declare what 'controller' is.
            Axis axis;                                                                                                              // Declare what 'axis' is.

            // Constants
            const int                       INPUT_INDEX     = 10;                                                                   // This is the index of the digital input you will use to trigger the user limit.
            const int                       AXIS_INDEX      = 0;                                                                    // This is the index of the axis you will use to command motion.
            const int                       AXIS_COUNT      = 1;                                                                    // Axes on the network.
            const int                       USER_UNITS      = 1048576;                                                              // Specify your motor's count per units.
            const int                       USER_LIMIT      = 1;                                                                    // Specify which user limit to use.
            const int                       CONDITION       = 0;                                                                    // Specify which condition to use. (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
            const RSIUserLimitLogic         LOGIC           = RSIUserLimitLogic.RSIUserLimitLogicEQ;                                // Logic for input value comparison.
            const int                       INPUT_MASK      = 1;                                                                    // Decide the bits in an address which need to be used when comparing. Use 0xFFFFFFFF when a long or float comparison is desired.
            const int                       LIMIT_VALUE     = 1;                                                                    // The value to be compared which needs to be set here.
            const RSIUserLimitTriggerType   TRIGGER_TYPE    = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;      // Choose the how the condition (s) should be evaluated. 
            const RSIAction                 ACTION          = RSIAction.RSIActionE_STOP_ABORT;                                      // Choose the action you want to cause when the User Limit triggers.
            const int                       DURATION        = 0;                                                                    // Enter the time delay before the action is executed after the User Limit has triggered.
            const int                       USER_DATA_INDEX = 0;

            // Other Global Variables
            ulong inputAddress;

            // Initialize RapidCode Objects
            controller = MotionController.CreateFromSoftware();                                                                     // 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. 
            
            // Some Necessary Pre User Limit Configuration
            controller.UserLimitCountSet(1);                                                                                        // Set the amount of UserLimits that you want to use.
            controller.InterruptEnableSet(true);                                                                                    // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)

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

            axis = controller.AxisGet(AXIS_INDEX);                                                                                  // Initialize your axis object.
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                                                         // [Helper Function] Check that the axis has been initialize correctly.

            try
            {
                // GET AXIS READY & MOVING
                axis.UserUnitsSet(USER_UNITS);                                                                                      // Specify the counts per unit. (every 1048576 counts my motor does one full turn) (varies per motor)
                axis.ErrorLimitTriggerValueSet(1);                                                                                  // Specify the position error limit trigger value. (learn more about this on our support page)
                axis.PositionSet(0);                                                                                                // Ensure the motor starts at position 0 every time.
                axis.Abort();                                                                                                       // If there is any motion happening, abort it.
                axis.ClearFaults();                                                                                                 // Clear any faults.
                axis.AmpEnableSet(true);                                                                                            // Enable the axis.
                axis.MoveVelocity(1.0, 10.0);                                                                                       // Command a velocity move (Velocity=1.0, Acceleration=10.0).


                // USER LIMIT CONDITION
                inputAddress    = controller.NetworkInputAddressGet(INPUT_INDEX);                                                   // 10 was the index of my 1st input. (To check your IO indexes go to RapidSetup -.


                controller.UserLimitConditionSet(USER_LIMIT, CONDITION, LOGIC, inputAddress, INPUT_MASK, LIMIT_VALUE);              // Set your User Limit Condition (1st step to setting up your user limit)


                // USER LIMIT CONFIGURATION
                controller.UserLimitConfigSet(USER_LIMIT, TRIGGER_TYPE, ACTION, AXIS_INDEX, DURATION);                              // Set your User Limit Configuration. (2nd step to setting up your user limit)


                // USER LIMIT USER DATA SET
                controller.UserLimitInterruptUserDataAddressSet(USER_LIMIT,                                                                         // Specify the user limit you want to add User Data for.
                                                                USER_DATA_INDEX,                                                                    // Specify what user data index you would like to use. (must be a value from 0 to 4)
                                                                axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION));            // Specify the address of the data value you want to store in your User Data so that you can retrieve it later after the UserLimit limit triggers.


                // WAIT FOR DIGITAL INPUT TO TRIGGER USER LIMIT EVENT.
                Console.WriteLine("Waiting for the input bit to go high...\n");
                while (controller.InterruptWait((int)RSIWait.RSIWaitFOREVER) != RSIEventType.RSIEventTypeUSER_LIMIT)                                // Wait until your user limit triggers.
                {
                }

                int     triggeredUserLimit  = controller.InterruptSourceNumberGet()-AXIS_COUNT;                                                     // Check that the correct user limit has triggered. (an extra user limit is allocated for each axis)
                UInt64  data                = controller.InterruptUserDataGet(USER_DATA_INDEX);                                                     // Get the data stored in the user data you configured.
                double  interruptPosition   = BitConverter.ToDouble(BitConverter.GetBytes(data), 0);                                                // Convert from raw 64-bit memory bytes into 64-bit double.

                Console.WriteLine("Input bit went HIGH and User Limit {0} triggered!", triggeredUserLimit);                                         // Get the index of the user limit that triggered.
                Console.WriteLine("User Limit Interrupt Position = "+ interruptPosition/USER_UNITS);                                                // Get the position of the axis when it user limit event triggered.
                Console.WriteLine("\nDoes InterruptSourceNumberGet() - AxisCountGet() == userLimit: " + triggeredUserLimit.Equals(USER_LIMIT));

                controller.UserLimitDisable(USER_LIMIT);                                                                                             // Disable User Limit.
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
        }
    }
}