io-general-purpose.cs

/*  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");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(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}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}