General Purpose IO

Table of Contents

• • 🔹 What are general-purpose IOs?
  • 🔹 How do I get/set general-purpose IOs?

Utilize general-purpose IO for versatile digital and analog input/output control across the EtherCAT network.

🔹 What are general-purpose IOs?

In the RapidCode API, when we use the term IO, we mean general-purpose digital inputs or digital outputs and analog inputs or analog outputs.

General-purpose IOs are typically connected to the EtherCAT network via slave module. Click to see the hardware list.

Here is a picture of RapidSetupX showing all available general purpose IO in the system's network:

Note

To control dedicated IO on the drive such as: Home, Positive Limit, Negative Limit, etc. Please navigate to Dedicated IO topic documentation.

🔹 How do I get/set general-purpose IOs?

There are two ways to access general purpose digital/analog inputs/outputs:

1. Via the NetworkNode object (recommended):

Method	Returns	Description
DigitalInGet	bool	Reads the state of a digital input
DigitalOutGet	bool	Reads the current state of a digital output
DigitalOutSet	void	Sets the state of a digital output
AnalogInGet	int32_t	Reads the value of an analog input channel
AnalogOutSet	void	Sets the value of an analog output channel

    // get node
    var node = controller.NetworkNodeGet(nodeNumber: 0);
    Helpers.CheckErrors(node);
 
    // digital io
    bool dIn  = node.DigitalInGet(digitalInNumber: 0);
    bool dOut = node.DigitalOutGet(digitalOutNumber: 0);
    node.DigitalOutSet(digitalOutNumber: 0, state: dOut);
 
    // analog io
    int aIn  = node.AnalogInGet(analogChannel: 0);
    int aOut = node.AnalogOutGet(analogChannel: 0);
    node.AnalogOutSet(analogChannel: 0, analogValue: aOut);

1. Via the IOPoint object: check out the IOPoint concept page.