IOPoint

Table of Contents

• 🔹 What is IOPoint?
• 📜 Sample Code
  • IO Points Basics
  • IO Point User Buffer

Manage diverse inputs and outputs conveniently using the IOPoint class.

🔹 What is IOPoint?

The IOPoint class provides a simple standardized interface for interacting with the various things that can be thought of as an input or output.

An IOPoint can be an input or an output and can be Digital or Analog.

An IOPoint can be created from:

• An Axis's dedicated input/output
• An Axis's general input/output
• An IO object and a bit number
• A memory address
• A network PDO input/output

📜 Sample Code

IO Points Basics

This sample apps will demonstrate how to use the IO point object to read and write to network data.

• C#

        const int NODE_INDEX = 0;   // The EtherCAT Node we will be communicating with
                                    //const int INPUT_INDEX = 0; // The PDO Index in that Node
        const int OUTPUT_INDEX = 0; // The PDO Index in that Node
   
        IOPoint output0 = IOPoint.CreateDigitalOutput(controller.NetworkNodeGet(NODE_INDEX), OUTPUT_INDEX); // Automatically gets the memory index of a specified node and input index
   
        output0.Set(false);
   
        controller.SampleWait(1);
        Assert.That(output0.Get(), Is.False, "The getter function should return a value equal to false");

IO Point User Buffer

This sample application will show you how to create a simulated IOPoint from base on a memory address and index.

• C#

        const int INPUT_INDEX = 0;
        const int OUTPUT_INDEX = 1; // The PDO Index in that Node
   
        UInt64 userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0); // Grabing an memory address to store a simulated IO point.
   
        IOPoint input0 = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX); // Automatically gets the memory index of a specified node and input index
        IOPoint output0 = IOPoint.CreateDigitalOutput(controller, userBufferAddress, OUTPUT_INDEX); // Automatically gets the memory index of a specified node and input index
   
        //---ACT/ASSERT---
        output0.Set(false);
        Assert.That(output0.Get(), Is.False, "The getter function should return a value equal to false");
        output0.Set(true);
        Assert.That(output0.Get(), Is.True, "The getter function should return a value equal to true");
        controller.MemorySet(input0.AddressGet(), 0);
        Assert.That(input0.Get(), Is.False, "The getter function should return a value equal to false");
        controller.MemorySet(input0.AddressGet(), 1);
        Assert.That(input0.Get(), Is.True, "The getter function should return a value equal to true");