SingleAxisSyncOutputs.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using RSI.RapidCode.dotNET.Enums;
using System;

namespace SampleAppsCS
{
    class SingleAxisSyncOutputs
    {
        static void Main(string[] args)
        {
            // Constants
            const int AXIS_NUMBER = 0;              // Specify which axis/motor to control.
            const int USER_UNITS = 1048576;         // Specify your counts per unit / user units.   (the motor used in this sample app has 1048576 encoder pulses per revolution)       
            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, 1.0, 2.0, 4.0 };        // 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

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);    // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialized correctly.

            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.

            Axis axis = controller.AxisGet(AXIS_NUMBER);                                                 // Initialize the axis.
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                         // [Helper Function] Check that the axis has been initialized correctly.

            try
            {
                axis.PositionSet(0);                                                            // Make sure motor starts at position 0 everytime.
                axis.UserUnitsSet(USER_UNITS);                                                  // Change your user units.
                axis.Abort();                                                                   // If there is any motion happening, abort it.
                axis.ClearFaults();                                                             // Clear faults.
                axis.AmpEnableSet(true);                                                        // Enable the motor.

                // 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
                Console.WriteLine("Motion started. Waiting to complete.\n");

                axis.MotionDoneWait();                                                                              // What for Streaming Motion to be done.
                Console.WriteLine("Motion Complete. The outputs should have been set\n");

                axis.StreamingOutputsEnableSet(false);                                                              // Disable Sync Outputs.
                axis.AmpEnableSet(false);                                                                           // Disable the motor.

            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);                                                                       // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}