UserLimitFeedRate.cs

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

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


            // Constants
            const int       AXIS_INDEX          = 0;                                                                            // This is the index of the axis you will use to command motion.
            const int       USER_LIMIT          = 0;                                                                            // Specify which user limit to use.
            const int       USER_LIMIT_COUNT    = 1;
            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.RSIUserLimitLogicGT;                                        // Logic for input value comparison.
            const double    POSITION_TRIGGER_VALUE = 250;                                                                       // 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.RSIActionNONE;                                                      // 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 double    DEFAULT_FEED_RATE   = 1.0;
            const double    DESIRED_FEED_RATE   = 2.0;


            // Other Global Variables
            ulong feedRateAddress;


            // 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(USER_LIMIT_COUNT);                                                                     // Set the amount of UserLimits that you want to use.

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

            axis = controller.AxisGet(AXIS_INDEX);                                                                              // Initialize your axis object.
            SampleAppsCS.HelperFunctions.CheckErrors(axis);


            try
            {
                axis.FeedRateSet(DEFAULT_FEED_RATE);                                                                            // Restore FeedRate to default value.

                // USER LIMIT CONDITION
                controller.UserLimitConditionSet(USER_LIMIT, CONDITION, LOGIC, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeACTUAL_POSITION), POSITION_TRIGGER_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.NumberGet(), DURATION);                    // Set your User Limit Configuration. (2nd step to setting up your user limit)

                // USER LIMIT OUTPUT 
                feedRateAddress = axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTARGET_FEEDRATE);
                controller.UserLimitOutputSet(USER_LIMIT, DESIRED_FEED_RATE, feedRateAddress, true);
            }
            catch(Exception e)
            {
                Console.WriteLine(e.Message);
            }
        }
    }
}