UserLimitStateAction.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
using namespace RSI::RapidCode;

// which axis to E-STOP_ABORT?
const int AXIS_NUMBER = 0;

// which axis will we monitor
const int TRIGGER_AXIS_NUMBER = 1;
// which user limit to use?
const int USER_LIMIT = 0;

// which condition to use (0 or 1)
const int CONDITION = 0;

#define ACTION                        RSIActionE_STOP_ABORT

void UserLimitStateActionMain()
{
    // RapidCode interface classes
    MotionController   *controller;
    Axis            *axis;
    Axis         *triggerAxis;

    uint64  axisStatusAddress;
    int32  axisStatusMask;

    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);            // [Helper Function] Initialize the network.

        // Initialize MotionController class.
        MotionController *controller = MotionController::CreateFromSoftware();
        SampleAppsCPP::HelperFunctions::CheckErrors(controller);

        // initialize Rsi Axis class
        Axis *axis = controller->AxisGet(AXIS_NUMBER);
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);


        // initialize Rsi Axis class (we will be waiting for this axis' state to become an error)
        triggerAxis = controller->AxisGet(TRIGGER_AXIS_NUMBER);
        SampleAppsCPP::HelperFunctions::CheckErrors(triggerAxis);


        // get the trigger axis' status address
        axisStatusAddress = triggerAxis->AddressGet(RSIAxisAddressTypeSTATUS);

        // ESTOP bit mask
        axisStatusMask = RSIFirmwareStatusESTOP;


        // configure user limit to evaluate another axis' status
        controller->UserLimitConditionSet(USER_LIMIT,
            CONDITION,
            RSIUserLimitLogic::RSIUserLimitLogicEQ,
            (long)axisStatusAddress,
            axisStatusMask,
            axisStatusMask
        );

        // enable the user limit, generate ESTOP_ABORT action when ESTOP occurs on triggerAxis
        controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION,
            ACTION, AXIS_NUMBER, 0.0);

        printf("Waiting for the triggerAxis to have an ESTOP...\n");
        printf("\nPress Any Key To Exit.\n");

        // wait for user limit to trigger
        while (controller->OS->KeyGet(RSIWaitPOLL) < 0)
        {
            printf("User Limit state is %d\r", controller->UserLimitStateGet(USER_LIMIT));
            controller->OS->Sleep(10);
        }


        // disable User Limit
        controller->UserLimitDisable(USER_LIMIT);

    }
    catch (RsiError const& rsiError)
    {
        printf("Text:  %s\n", rsiError.text);
    }
    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.
}