HelloSequencer.sq

global int32 globalSerialNumber;  // global variables can be viewed in RapidSetup
 
void main()
{
  HelloMotionController();
}
 
void HelloMotionController()
{
  int32 serialNumber = ControllerSerialNumberGet();
  print("MotionController serial number is " + serialNumber);
  globalSerialNumber = serialNumber;  // write it to the global so we can view it int16 RapidSetup
}
 
void HelloAxis()
{
  uint32 axisNumber = 0;
  double commandPosition = AxisCommandPositionGet(axisNumber);
  print("Axis " + axisNumber + " CommandPosition is " + commandPosition);
}
 
void HelloIO()
{
  uint32 ioNumber = 0;
  int32 digitalInNumber = 0;
  bool inputState = IODigitalInGet(ioNumber, digitalInNumber);
  print("IO node " + ioNumber + " Digital Input bit number " + digitalInNumber + " state is " + inputState);
}
 
void HelloNetworkNode()
{
  uint32 networkNodeNumber = 1;
  string nodeName = NetworkNodeNameGet(networkNodeNumber);
  print("Node " + networkNodeNumber + " is a " + nodeName );  
}
 
void HelloMultiAxis()
{
  uint32 multiAxisNumber = 2;
  int32 axisCount = MultiAxisAxisCountGet(multiAxisNumber);
  print("MultiAxis " + multiAxisNumber + " Axis Count is " + axisCount);
  MultiAxisAbort(multiAxisNumber);
  MultiAxisClearFaults(multiAxisNumber);
}
 
void HelloEnum()
{
  enum operational = 260; // RSINetworkStateOPERATIONAL from rsiEnums.h
  enum currentState = ControllerNetworkStateGet();
  
  if(currentState == operational)
  {
    print("Network is OPERATIONAL");
  }
  else
  {
    print("Network is not operational");
  }
}
 
void HelloArray()
{
  string arrayId = "anyUniqueStringHere";
  uint64 arraySize = 3;
  array_create(arrayId, arraySize);
  
  array_set(arrayId, 0, 111.111);
  array_set(arrayId, 1, 222.222);
  array_set(arrayId, 2, 333.333);
  
  for(uint64 i = 0; i < arraySize; ++i)
  {
    print(i + " = " + array_get(arrayId, i));
  }
  array_destroy(arrayId);
}