StreamingOutputsClear()

void StreamingOutputsClear

(

)

Description:

This method will clear the contents of the Streaming Output List – to be used when finished with Streaming Outputs or when preparing to append motion points with new Streaming Outputs

Remarks

This function is also available in RapidSequencer.

Part of the Streaming Motion method group.

Sample Code:

SingleAxisSyncOutputs

      const int TOTAL_POINTS = 4;                   // total number of points
      const int EMPTY_CT     = -1;                  // Number of points that remains in the buffer before an e-stop
      const int OUTPUT_INDEX = 0;                   // This is the index of the digital output that will go active when the user limit triggers.
      const int NODE_INDEX   = 0;                   // The EtherCAT Node we will be communicating with
 
      double[] positions  = { 1.0, 2.0, 3.0, 4.0 }; // These will be the streaming motion 5 positions.
      double[] times      = { 0.5, 0.1, 0.2, 0.4 }; // These will be the streaming motion 5 positions' time. 
      int outputEnableID  = 2;                      // The motion element ID at which to set the output
      int outputDisableID = 3;                      // The motion element ID at which to set the output
 
      // Set up the inputs
      // IOPoint output0 = IOPoint.CreateDigitalOutput(axis, RSIMotorGeneralIo.RSIMotorGeneralIo16);      // Retrieve DOUT 1, Method 1: requires you know the io adress in memory, slightly faster
      IOPoint output0 = IOPoint.CreateDigitalOutput(controller.IOGet(NODE_INDEX), OUTPUT_INDEX);          // Retrieve DOUT 1  Method 2: only need to know node index
      output0.Set(false); // Set the output low
 
      // Set up Sync Outputs
      axis.StreamingOutputsEnableSet(true);                                                               // Enable streaming output.
 
      // ENABLE the Sync Output(s)
      axis.StreamingOutputAdd(output0, true, outputEnableID);                                             // This will turn DOUT1 High when the streaming motion reaches its 3rd motion point.
      axis.StreamingOutputAdd(output0, false, outputDisableID);                                           // This will turn DOUT1 Low when the streaming motion reaches its 4th motion point.
 
      // DISABLE the Sync Output(s)
      // axis.StreamingOutputAdd(output0, false, outPutEnableID);
 
      axis.MovePT(RSIMotionType.RSIMotionTypePT, positions, times, TOTAL_POINTS, EMPTY_CT, false, true);  // Start Streaming Motion
 
      while (!axis.MotionDoneGet())
      {
        if (axis.MotionIdExecutingGet() > outputEnableID && axis.CommandPositionGet() < outputEnableID)
        {
          Assert.AreEqual(output0.Get(), true, "The output should be triggered");
        }
        else
        {
          Assert.AreEqual(output0.Get(), false, "The output should NOT be triggered");
        }
      }
 
      axis.StreamingOutputsEnableSet(false);                                                              // Disable Sync Outputs.
      axis.AmpEnableSet(false);                                                                           // Disable the motor.

See also

StreamingOutputsEnableSet, StreamingOutputAdd

Examples

SyncOutputWithMotion.cpp.