MotionController Axis MultiAxis IO IOPoint NetworkNode RsiError
Sample Apps Changelog

RapidCode API

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.
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.