io-network-pdo-sdo.cs

/*  This sample demonstrates how to read network inputs and outputs (PDOs and SDOs).
    Shows how to enumerate through all network inputs/outputs and read their properties,
    including size, offset, name, and value information.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 IO: Network PDOs and SDOs");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);

    // get Input values
    int inputCount = controller.NetworkInputCountGet();  // get number of Network Inputs (PDOs)
 
    Console.WriteLine($"Network Input Count: {inputCount}");
    for (int i = 0; i < inputCount; i++)
    {
        int size     = controller.NetworkInputBitSizeGet(i);    // read Input BitSize
        int offset   = controller.NetworkInputBitOffsetGet(i);  // read Input BitOffset
        string name  = controller.NetworkInputNameGet(i);       // read Input Name
        UInt64 value = controller.NetworkInputValueGet(i);      // read Input Value
        
        Console.WriteLine($"Input {i}: {name}, Size: {size}, Offset: {offset}, Value: {value}");
    }
 
    // get Output values
    int outputCount = controller.NetworkOutputCountGet();  // get number of Network Outputs (SDOs)
 
    Console.WriteLine($"Network Output Count: {outputCount}");
    for (int i = 0; i < outputCount; i++)
    {
        int size     = controller.NetworkOutputBitSizeGet(i);    // read Output BitSize
        int offset   = controller.NetworkOutputBitOffsetGet(i);  // read Output BitOffset
        string name  = controller.NetworkOutputNameGet(i);       // read Output Name
        UInt64 value = controller.NetworkOutputSentValueGet(i);  // read Output Value
        
        Console.WriteLine($"Output {i}: {name}, Size: {size}, Offset: {offset}, Value: {value}");
        controller.NetworkOutputOverrideValueSet(i, value);
    }
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}