io-general-purpose.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 General Purpose IO on EtherCAT network nodes.
    Shows how to read and write digital and analog inputs/outputs.
    Requires an EtherCAT network with nodes that have IO.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 IO: General Purpose");
 
int exitCode = 0;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);

    // 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);
 
    Console.WriteLine($"Digital Input 0: {dIn}");
    Console.WriteLine($"Digital Output 0: {dOut}");
    Console.WriteLine($"Analog Input 0: {aIn}");
    Console.WriteLine($"Analog Output 0: {aOut}");
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;