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.

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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
using RSI.RapidCode;
#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),
                          axis.NegativeLimitGet());
 
      Console.WriteLine("RSIMotorDedicatedInLIMIT_HW_POS: {0} and {1}",
                          axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInLIMIT_HW_POS),
                          axis.PositiveLimitGet());
 
      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.
    }
  }