io-iopoint-user-buffer.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 create simulated IOPoints using user buffer memory.
    Shows how to create IOPoint objects from base memory addresses and test their functionality
    without requiring actual network IO hardware.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 IO: IOPoint User Buffer");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);

    const int INPUT_INDEX = 0;
    const int OUTPUT_INDEX = 1;  // the PDO Index in the user buffer
 
    // get user buffer address for simulated IO point storage
    UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0);
 
    // create simulated IOPoints based on memory address and index
    IOPoint input0  = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX);
    IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX);
 
    // get & set an output
    bool outVal = output0.Get();
    output0.Set(outVal);
    Console.WriteLine($"Output 0 value: {outVal}");
 
    // test input operations by directly writing to memory
    controller.MemorySet(input0.AddressGet(), 1);
    bool inVal = input0.Get();
    Console.WriteLine($"Input 0 memory set to 1, value: {inVal}");
 
    controller.MemorySet(input0.AddressGet(), 0);
    inVal = input0.Get();
    Console.WriteLine($"Input 0 memory set to 0, value: {inVal}");
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}