static void ConfigureUserLimitInterrupts(int userLimitIndex)
{
controller.UserLimitInterruptUserDataAddressSet(userLimitIndex, COMMAND_POSITION_INDEX, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_POSITION));
controller.UserLimitInterruptUserDataAddressSet(userLimitIndex, ACTUAL_POSITION_INDEX, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeACTUAL_POSITION));
//controller.UserLimitInterruptUserDataAddressSet(userLimitIndex, TC_COMMAND_POSITION_INDEX, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTC_COMMAND_POSITION));
//controller.UserLimitInterruptUserDataAddressSet(userLimitIndex, TC_ACTUAL_POSITION_INDEX, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTC_ACTUAL_POSITION));
}
static void Main(string[] args)
{
// 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
{
// set the triggered modify values to stop very quickly
axis.TriggeredModifyDecelerationSet(DECEL);
axis.TriggeredModifyJerkPercentSet(JERK_PCT);
//////////// FIRST USER LIMIT ////////////
// USER LIMIT CONDITION 0 (trigger on digital input)
controller.UserLimitConditionSet(USER_LIMIT_FIRST, 0, LOGIC, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeDIGITAL_INPUTS), 0x400000, 0x400000); // Set your User Limit Condition (1st step to setting up your user limit)
//// USER LIMIT OUTPUT (copy TC.ActualPosition to UserBuffer)
// controller.UserLimitOutputSet(USER_LIMIT_FIRST, RSIDataType.RSIDataTypeDOUBLE, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTC_ACTUAL_POSITION), controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER), true);
//// USER LIMIT CONFIGURATION (cause a TRIGGERED_MODIFY action on the Axis)
controller.UserLimitConfigSet(USER_LIMIT_FIRST, TRIGGER_TYPE, ACTION, axis.NumberGet(), DURATION, ONE_SHOT); // Set your User Limit Configuration. (2nd step to setting up your user limit)
//////////// SECOND USER LIMIT ////////////
// CONDITION 0 (wait for first user limit to trigger)
controller.UserLimitConditionSet(USER_LIMIT_SECOND, 0, RSIUserLimitLogic.RSIUserLimitLogicEQ, controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSERLIMIT_STATUS, USER_LIMIT_FIRST), 1, 1);
// CONDITION 1 (AND wait for Axis command velcity = 0.0)
controller.UserLimitConditionSet(USER_LIMIT_SECOND, 1, RSIUserLimitLogic.RSIUserLimitLogicEQ, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeCOMMAND_VELOCITY), 0.0);
// OUTPUT (copy value from UserBuffer to TC.CommandPosition when trigered)
//controller.UserLimitOutputSet(USER_LIMIT_SECOND, RSIDataType.RSIDataTypeDOUBLE, controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER), axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeTC_COMMAND_POSITION), true);
controller.UserLimitConfigSet(USER_LIMIT_SECOND, RSIUserLimitTriggerType.RSIUserLimitTriggerTypeCONDITION_AND, RSIAction.RSIActionNONE, 0, 0, ONE_SHOT);
// get the Axis moving
axis.ClearFaults();
axis.AmpEnableSet(true);
axis.MoveVelocity(VELOCITY, ACCEL);
// configure and enable interrupts
ConfigureUserLimitInterrupts(USER_LIMIT_FIRST);
ConfigureUserLimitInterrupts(USER_LIMIT_SECOND);
controller.InterruptEnableSet(true);
// wait for (and print) interrupts
WaitForInterrupts();
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
