io-dedicated.cs

Note

See IO: Input & Output 📜 for a detailed explanation of this sample code.

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.

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.

/*  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
}