UserLimitDigitalInputOneCondition.cs

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

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

            // Constants
            const int NODE_INDEX = 0;
            const int INPUT_INDEX = 0;            // This is the index of the digital input you will use to trigger the user limit.
            const int OUTPUT_INDEX = 0;           // This is the index of the digital output that will go active when the user limit triggers.

            // 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.

            try
            {
                controller.UserLimitCountSet(2);                                                           // Set the amount of UserLimits that you want to use. (every connected axis will automatically get 1 user limit)
                controller.InterruptEnableSet(true);                                                       // Enable User Limit Interrupts. (When a user limit input comparison is met, and interrupt is triggered)

                IOPoint input0 = IOPoint.CreateDigitalInput(controller.IOGet(NODE_INDEX), INPUT_INDEX);    // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
                IOPoint output0 = IOPoint.CreateDigitalOutput(controller.IOGet(NODE_INDEX), OUTPUT_INDEX); // Create IOPoint object. Can be used to automatically get the address of a specified node and input index
                SampleAppsCS.HelperFunctions.CheckErrors(input0);
                SampleAppsCS.HelperFunctions.CheckErrors(output0);
                //-------- PARAMETERS FOR UserLimitConditionSet --------
                int userLimit = 1;                                                        // Specify which user limit to use.
                int condition = 0;                                                        // Specify which condition to use (0 or 1) ("0" to compare 1 input || "1" to compare 2 inputs)
                RSIUserLimitLogic logic = RSIUserLimitLogic.RSIUserLimitLogicEQ;          // Logic for input value comparison.
                ulong inputAddress = input0.AddressGet();                                 // Use IOPoint or manually set using controller.NetworkInputAddressGet(INPUT_INDEX); for Beckhoff 10 was the index of 1st input. (To check your IO indexes go to RapidSetup -.

                uint test = (uint)input0.MaskGet();
                uint inputMask = (uint)input0.MaskGet();                                  // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
                uint limtValue = (uint)input0.MaskGet();                                  // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   

                // [1] Configure the input's trigger condition.
                controller.UserLimitConditionSet(userLimit,                               // (User Limit Index)   - Specify which user limit to use
                                                    condition,                            // (Condition Number)   - Specify how many inputs you want to compare.
                                                    logic,                                // (Comparison Logic)   - Specify the how the input value(s) will be compared
                                                    inputAddress,                         // (Input Address)      - Specify the address of the input that will be compared.
                                                    inputMask,                            // (Input Mask)         - Specify the bits in an address which need to be used when comparing inputs.
                                                    limtValue);                           // (Limit Value)        - Specify the value to be compared with. 

                //-------- PARAMETERS FOR UserLimitConfigSet --------
                RSIUserLimitTriggerType triggerType = RSIUserLimitTriggerType.RSIUserLimitTriggerTypeSINGLE_CONDITION;
                RSIAction action = RSIAction.RSIActionNONE;
                int axis = 0;
                int duration = 0;

                // [2] Configure and Enable the user limit.
                controller.UserLimitConfigSet(userLimit,                                  // (User Limit Index)   - Specify which user limit to use.
                                                triggerType,                              // (Trigger Type)       - Specify how your condition should be evalutated.
                                                action,                                   // (User Limit Action)  - Specify the action you want to cause on the axis when the user limit triggers.
                                                axis,                                     // (Current Axis)       - Specify the axis that the action (defined above) will occur on.
                                                duration);                                // (Output Timer)       - Specify the time delay before the action is executed after the User Limit has triggered.


                //-------- PARAMETERS FOR UserLimitOutputSet --------
                uint andMask = (uint)output0.MaskGet();                                   // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
                uint orMask = (uint)output0.MaskGet();                                    // Get the appropriate mask from your IOpoint. OR use 0x00010000 for AKD General IO, 1 for Beckhoff IO Terminals   
                ulong outputAddress = output0.AddressGet();                               //Alternatively set manually using: controller.NetworkOutputAddressGet(OUTPUT_INDEX);
                bool enableOutput = true;

                // [3] Configure what the output will be.                                 (Call this method after UserLimitConfigSet if you want an output to be triggered) (The output will only be triggered if the input conditions are TRUE.)
                controller.UserLimitOutputSet(userLimit,                                  // (User Limit Index)   - Specify which user limit to use.
                                                andMask,                                  // (Logic AND Mask)     - Specify the value that the digital output will be AND-ed with.
                                                orMask,                                   // (Logic OR Mask)      - Specify the value that the digital output will be OR-ed with.
                                                outputAddress,                            // (Output Address)     - Specify the digital output address.
                                                enableOutput);                            // (Enable Output Set)  - If TRUE, the output AND-ing and OR-ing will be executed when the User Limit triggers.

                Console.WriteLine("Waiting for the input bit to go high...\n");

                // Wait for user limit to trigger.
                while (controller.InterruptWait((int)RSIWait.RSIWaitFOREVER) != RSIEventType.RSIEventTypeUSER_LIMIT)
                {
                }
                
                Console.WriteLine("User Limit {0} triggered!", controller.InterruptSourceNumberGet());      // Get the index of the user limit that triggered.

                controller.UserLimitDisable(userLimit);                                                     // Disable User Limit.
                Console.WriteLine("\nPress Any Key To Continue");                                           // Allow time to read Console.
                Console.ReadKey();
                output0.Set(false);                                                                         // Disable User Limit.
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}