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InputOutput.cs
Attention
See the following Concept pages for a detailed explanation of this sample: Dedicated IO, IOPoint, PDO vs. SDO Streaming Motion Sync Outputs.
Warning
This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using NUnit.Framework;
using System;
#if DOXYGEN // RSI internal documentation use only
#endif
[TestFixture]
[Category("Software")]
class InputOutput : SampleAppTestBase
{
[Test, Timeout(Constants.MAX_TEST_TIME)]
public void DedicatedIO()
{
// Retrieve dedicated inputs with generic and specific function.
Console.WriteLine("RSIMotorDedicatedInLIMIT_HW_NEG: {0} and {1}",
axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInLIMIT_HW_NEG),
Console.WriteLine("RSIMotorDedicatedInLIMIT_HW_POS: {0} and {1}",
axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInLIMIT_HW_POS),
Console.WriteLine("RSIMotorDedicatedInHOME: {0} and {1}",
axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInHOME),
axis.HomeSwitchGet());
Console.WriteLine("RSIMotorDedicatedInAMP_FAULT: {0} and {1}",
axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInAMP_FAULT),
axis.AmpFaultGet());
Console.WriteLine("RSIMotorDedicatedInAMP_ACTIVE: {0} and {1}",
axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInAMP_ACTIVE),
axis.AmpEnableGet());
}
[Test, Timeout(Constants.MAX_TEST_TIME)]
public void NetworkInputsAndOutputs()
{
// Get Input Values
int inputCount = controller.NetworkInputCountGet(); // Get number of Network Inputs (PDOs)
for (int i = 0; i < inputCount; i++)
{
int size = controller.NetworkInputBitSizeGet(i); // Read Input BitSize
int offset = controller.NetworkInputBitOffsetGet(i); // Read Input BitOffset
string name = controller.NetworkInputNameGet(i); // Read Input Name
UInt64 value = controller.NetworkInputValueGet(i); // Read Input Value
}
// Get Output Values
int outputCount = controller.NetworkOutputCountGet(); // Get number of Network Outputs (SDOs)
for (int i = 0; i < outputCount; i++)
{
int size = controller.NetworkOutputBitSizeGet(i); // Read Output BitSize
int offset = controller.NetworkOutputBitOffsetGet(i); // Read Output BitOffset
string name = controller.NetworkOutputNameGet(i); // Read Output Name
UInt64 value = controller.NetworkOutputSentValueGet(i); // Read Output Value
controller.NetworkOutputOverrideValueSet(i, value);
}
}
//TODO expand examples once iopoint is expanded.
[Test]
public void IOPoints()
{
const int NODE_INDEX = 0; // The EtherCAT Node we will be communicating with
//const int INPUT_INDEX = 0; // The PDO Index in that Node
const int OUTPUT_INDEX = 0; // The PDO Index in that Node
IOPoint output0 = IOPoint.CreateDigitalOutput(controller.NetworkNodeGet(NODE_INDEX), OUTPUT_INDEX); // Automatically gets the memory index of a specified node and input index
output0.Set(false);
controller.SampleWait(1);
Assert.That(output0.Get(), Is.False, "The getter function should return a value equal to false");
}
//TODO expand examples once iopoint is expanded.
[Test]
public void IOPointUserBuffer()
{
const int INPUT_INDEX = 0;
const int OUTPUT_INDEX = 1; // The PDO Index in that Node
UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabing an memory address to store a simulated IO point.
IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX); // Automatically gets the memory index of a specified node and input index
IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX); // Automatically gets the memory index of a specified node and input index
//---ACT/ASSERT---
output0.Set(false);
Assert.That(output0.Get(), Is.False, "The getter function should return a value equal to false");
output0.Set(true);
Assert.That(output0.Get(), Is.True, "The getter function should return a value equal to true");
controller.MemorySet(input0.AddressGet(), 0);
Assert.That(input0.Get(), Is.False, "The getter function should return a value equal to false");
controller.MemorySet(input0.AddressGet(), 1);
Assert.That(input0.Get(), Is.True, "The getter function should return a value equal to true");
}
[Test]
public void SingleAxisSyncOutputs()
{
const int TOTAL_POINTS = 4; // total number of points
const int EMPTY_CT = -1; // Number of points that remains in the buffer before an e-stop
const int OUTPUT_INDEX = 0; // This is the index of the digital output that will go active when the user limit triggers.
const int NODE_INDEX = 0; // The EtherCAT Node we will be communicating with
double[] positions = { 1.0, 2.0, 3.0, 4.0 }; // These will be the streaming motion 5 positions.
double[] times = { 0.5, 0.1, 0.2, 0.4 }; // These will be the streaming motion 5 positions' time.
int outputEnableID = 2; // The motion element ID at which to set the output
int outputDisableID = 3; // The motion element ID at which to set the output
// Set up the inputs
// IOPoint output0 = IOPoint.CreateDigitalOutput(axis, RSIMotorGeneralIo.RSIMotorGeneralIo16); // Retrieve DOUT 1, Method 1: requires you know the io adress in memory, slightly faster
IOPoint output0 = IOPoint.CreateDigitalOutput(controller.NetworkNodeGet(NODE_INDEX), OUTPUT_INDEX); // Retrieve DOUT 1 Method 2: only need to know node index
output0.Set(false); // Set the output low
// Set up Sync Outputs
axis.StreamingOutputsEnableSet(true); // Enable streaming output.
// ENABLE the Sync Output(s)
axis.StreamingOutputAdd(output0, true, outputEnableID); // This will turn DOUT1 High when the streaming motion reaches its 3rd motion point.
axis.StreamingOutputAdd(output0, false, outputDisableID); // This will turn DOUT1 Low when the streaming motion reaches its 4th motion point.
// DISABLE the Sync Output(s)
// axis.StreamingOutputAdd(output0, false, outPutEnableID);
axis.MovePT(RSIMotionType.RSIMotionTypePT, positions, times, TOTAL_POINTS, EMPTY_CT, false, true); // Start Streaming Motion
while (!axis.MotionDoneGet())
{
if (axis.MotionIdExecutingGet() > outputEnableID && axis.CommandPositionGet() < outputEnableID)
{
Assert.That(output0.Get(), Is.EqualTo(true), "The output should be triggered");
}
else
{
Assert.That(output0.Get(), Is.EqualTo(false), "The output should NOT be triggered");
}
}
axis.StreamingOutputsEnableSet(false); // Disable Sync Outputs.
axis.AmpEnableSet(false); // Disable the motor.
}
}
double CommandPositionGet()
Get the current command position.
bool AmpEnableGet()
Get the state of the Amp Enable Output.
bool HomeSwitchGet()
Get the current state of the Home switch input.
bool PositiveLimitGet()
Get the state of the Hardware Positive Limit input.
uint16_t MotionIdExecutingGet()
bool NegativeLimitGet()
Get the state of the Hardware Negative Limit input.
bool AmpFaultGet()
Get the current state of the Amp Fault input.
bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber)
Read a digital input.
uint64_t AddressGet()
Get the Host Address for the I/O point.
void Set(bool state)
Set the state of a Digital Output.
static IOPoint * CreateDigitalInput(Axis *axis, RSIMotorDedicatedIn motorDedicatedInNumber)
Create a Digital Input from an Axis' Dedicated Input bits.
static IOPoint * CreateDigitalOutput(Axis *axis, RSIMotorDedicatedOut motorDedicatedOutNumber)
Create a Digital Output from an Axis' Dedicated Output bits.
bool Get()
Get the state of Digital Input or Output.
Represents one specific point: Digital Output, Digital Input, Analog Output, or Analog Input....
Definition rsi.h:11358
NetworkNode * NetworkNodeGet(int32_t nodeNumber)
NetworkNodeGet returns a pointer to a RapidCodeNetworkNode object using its node number and initializ...
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue)
Sets a PDO output directly.
int32_t NetworkInputBitOffsetGet(int32_t index)
void MemorySet(uint64_t address, int32_t data)
Write a value to controller memory.
uint64_t AddressGet(RSIControllerAddressType type)
Get the an address for some location on the MotionController.
uint64_t NetworkInputValueGet(int32_t index)
uint64_t NetworkOutputSentValueGet(int32_t index)
Gets the value sent out over EtherCAT.
void SampleWait(uint32_t samples)
Wait for controller firmware to execute samples.
const char *const NetworkOutputNameGet(int32_t index)
Get the name of a PDO output.
int32_t NetworkOutputBitSizeGet(int32_t index)
Get the size (in bits) of a PDO output.
int32_t NetworkOutputBitOffsetGet(int32_t index)
Get the raw PDO offset for an output.
int32_t NetworkInputCountGet()
Get the number of PDO inputs found on the network.
int32_t NetworkInputBitSizeGet(int32_t index)
Get the size (in bits) of a network input.
const char *const NetworkInputNameGet(int32_t index)
Get the name of a PDO network input.
void AmpEnableSet(bool enable)
Enable all amplifiers.
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address)
void StreamingOutputsEnableSet(bool enable)
Sets whether Streaming Output is enabled (true) or disabled (false).
void MovePT(RSIMotionType type, const double *const position, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
A move commanded by a list of position and time points.
bool MotionDoneGet()
Check to see if motion is done and settled.
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:404
RSIMotionType
Streaming motion types.
Definition rsienums.h:981
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:835