io-sync-outputs.cs

/*  This sample demonstrates how to set up Sync Outputs for streaming motion.
    Shows how to configure outputs to trigger at specific motion element IDs during streaming motion,
    allowing synchronized IO operations with motion control.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 IO: Sync Outputs");
 
// get rmp objects
MotionController controller = MotionController.Get();
Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
 
try
{
    Helpers.CheckErrors(controller);
    Helpers.CheckErrors(axis);
 
    // ready axis
    Helpers.PhantomAxisReset(axis);

    const int TOTAL_POINTS = 4;                 // total number of points
    const int EMPTY_CT = -1;                    // number of points that remains in buffer before e-stop
    const int OUTPUT_INDEX = 0;                 // digital output index that will be controlled
    const int NODE_INDEX = 0;                   // the EtherCAT Node index
 
    double[] positions = [1.0, 2.0, 3.0, 4.0];  // streaming motion positions
    double[] times = [0.5, 0.1, 0.2, 0.4];      // streaming motion times
    int outputEnableID = 2;                     // motion element ID at which to set output HIGH
    int outputDisableID = 3;                    // motion element ID at which to set output LOW
 
    // create IOPoint for digital output
    IOPoint output0 = IOPoint.CreateDigitalOutput(controller.NetworkNodeGet(NODE_INDEX), OUTPUT_INDEX);
    output0.Set(false);  // set output low initially
 
    // enable streaming/sync outputs
    axis.StreamingOutputsEnableSet(true);
 
    // configure sync outputs - turn output HIGH at motion element 2, LOW at motion element 3
    axis.StreamingOutputAdd(output0, true, outputEnableID);    // turn output HIGH at element ID 2
    axis.StreamingOutputAdd(output0, false, outputDisableID);  // turn output LOW at element ID 3
 
    Console.WriteLine($"Starting streaming motion with {TOTAL_POINTS} points");
    Console.WriteLine($"Output will go HIGH at element ID {outputEnableID}");
    Console.WriteLine($"Output will go LOW at element ID {outputDisableID}");
 
    // start streaming motion
    axis.MovePT(RSIMotionType.RSIMotionTypePT, positions, times, TOTAL_POINTS, EMPTY_CT, false, true);
 
    // monitor motion and output state
    while (!axis.MotionDoneGet())
    {
        int currentElement = axis.MotionIdExecutingGet();
        bool outputState = output0.Get();
        Console.WriteLine($"Motion Element: {currentElement}, Output State: {outputState}");
 
        Thread.Sleep(50);  // small delay to avoid overwhelming console
    }
    
    // cleanup
    Helpers.AbortMotionObject(axis);
}
// handle errors as needed
finally
{
    axis.StreamingOutputsEnableSet(false);  // restore
    controller.Delete();                    // dispose
}