StreamingOutputAdd() [2/4]

void StreamingOutputAdd	(	int32_t	onMask,
		int32_t	offMask,
		uint64_t	address,
		int32_t	ptPointIndex )

Description:

StreamingOutputAdd will apply the bitmasks "onMask" and "offMask" to the specified address, setting high bits in the on mask to high, and the high bits in the off mask to low. ptPointIndex specified the MotionElementExecutingID at which the masks will be applied.

Parameters

onMask	The high bits of this bitmask sets the corresponding bits at the address high.
offMask	The high bits of this bitmask sets the corresponding bits at the address low.
address	The address at which to toggle bits
ptPointIndex	The MotionElementExecutingID at which to apply the masks. The valid range is from 0 to the last point index of the currently executing streaming move.

Part of the Streaming Motion method group.

Sample Code:

IO: Input & Output

    const int TOTAL_POINTS = 4;                 // total number of points
    const int EMPTY_CT = -1;                    // number of points that remains in buffer before e-stop
    const int OUTPUT_INDEX = 0;                 // digital output index that will be controlled
    const int NODE_INDEX = 0;                   // the EtherCAT Node index
 
    double[] positions = [1.0, 2.0, 3.0, 4.0];  // streaming motion positions
    double[] times = [0.5, 0.1, 0.2, 0.4];      // streaming motion times
    int outputEnableID = 2;                     // motion element ID at which to set output HIGH
    int outputDisableID = 3;                    // motion element ID at which to set output LOW
 
    // create IOPoint for digital output
    IOPoint output0 = IOPoint.CreateDigitalOutput(controller.NetworkNodeGet(NODE_INDEX), OUTPUT_INDEX);
    output0.Set(false);  // set output low initially
 
    // enable streaming/sync outputs
    axis.StreamingOutputsEnableSet(true);
 
    // configure sync outputs - turn output HIGH at motion element 2, LOW at motion element 3
    axis.StreamingOutputAdd(output0, true, outputEnableID);    // turn output HIGH at element ID 2
    axis.StreamingOutputAdd(output0, false, outputDisableID);  // turn output LOW at element ID 3
 
    Console.WriteLine($"Starting streaming motion with {TOTAL_POINTS} points");
    Console.WriteLine($"Output will go HIGH at element ID {outputEnableID}");
    Console.WriteLine($"Output will go LOW at element ID {outputDisableID}");
 
    // start streaming motion
    axis.MovePT(RSIMotionType.RSIMotionTypePT, positions, times, TOTAL_POINTS, EMPTY_CT, false, true);
 
    // monitor motion and output state
    while (!axis.MotionDoneGet())
    {
        int currentElement = axis.MotionIdExecutingGet();
        bool outputState = output0.Get();
        Console.WriteLine($"Motion Element: {currentElement}, Output State: {outputState}");
 
        Thread.Sleep(50);  // small delay to avoid overwhelming console
    }

Note

The points need to be added sequentially.

See also

StreamingOutputsEnableSet, StreamingOutputsClear, StreamingOutputAdd, MotionIdExecutingGet, MotionElementIdExecutingGet, IO, IOPoint