From RSI - Robotic Systems Integration - SynqNet Systems
Dedicated I/O are specific Motion related signals common to most Motion Systems. Unlike User I/O, Dedicated I/O are each made for a specific purpose. Many of the Dedicated I/O signals have external connections similar to User I/O. Other Dedicated I/O, such as Amp Fault, are internal connections within a drive. RsiMotorDedicatedIn and RsiMotorDedicatedOut enumerations contain the 20 Dedicated I/O available for RapidCode.
RapidCode supports these I/O with validate and monitor functionality. Each is called from the axis object associated. The functions beginning with 'Dedicated' take an Enumeration from the two provided above. The following 3 functions consider the trigger state to return true if the IO is currently Active. The final two functions duplicate functionality with the Dedicated functions of their respective enumeration value.
Accessing and Verifying Dedicated I/O Functions
- DedicatedInExists(enumValue)
- DedicatedOutExists(enumValue)
- DedicatedInGet(enumValue)
- DedicatedOutGet(enumValue)
- NegativeLimitGet()
- PositiveLimitGet()
- AmpFaultGet()
- HomeSwitchGet()
- AmpEnableGet()
You can use Dedicated I/O to customize your program to respond to your system's behavior.