io-dedicated.cs

/*  This sample demonstrates how to access Dedicated IO on an axis.
    Shows how to read hardware limits, home switch, amp fault, and amp enable signals.
    Uses both generic and specific functions for accessing dedicated inputs.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 IO: Dedicated");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(axisNumber: 0);
    Helpers.CheckErrors(axis);
 
    // 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());
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}