StreamingOutputsClear()

void StreamingOutputsClear

(

)

Description:

This method will clear the contents of the Streaming Output List.

Note

Streaming outputs accumulate across MovePT/MovePVT calls and are NOT automatically cleared. You should call StreamingOutputsClear() after each MovePT/MovePVT call to ensure the next call starts with a fresh output list. Failing to clear can cause outputs from previous calls to interfere with new outputs.

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 = 2;                    // 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, 0.8, 1, 0.5];      // 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}");
 
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
 
    // 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.MotionElementIdExecutingGet();
        bool outputState = output0.Get();
        Console.WriteLine($"Motion Element: {currentElement}, Output State: {outputState}");
 
        Thread.Sleep(50);  // small delay to avoid overwhelming console
    }

See also

StreamingOutputsEnableSet, StreamingOutputAdd, Streaming Motion Sync Outputs

Examples

SyncOutputWithMotion.cpp.