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IO Input

Mechaware API Documentation >Input

Overview

Overview

Description

The IO Input block is used for reading a discrete bit from a Node IO.

Data Type defines the data type of the target I/O field: can be float (32 bits) , double (64 bits), short integer (16 bits), integer (32 bits) and long integer (64 bits).

The Bit Number defines which bit to write to. Bit 0 is always the LSB. The MSB depends on the word type: 15 for short integer, 31 for float and integer, and 63 for double and long integer.

Note: The input is read at the update rate, which is specified by the Evaluate Block

Example

The following example provides a simple PID Filter controlling Axis 0. It demonstrates how to abort an axis based on an Analog Input, and enable/disable the amplifier based on a Digital Input.

In the second example, the Digital Input 0 on Node 1 is read as an Integer, and directly connects into the Amp Enable of Axis 0, causing the Digital Input to act as the Amp Enable switch.

The configuration values for this block are as follows:

 

Number

Node number for the input bit.

Bit Number

Bit to be used as input. 0 is always the LSB. The MSB depends on the input type (15, 31, or 63. see Data Type).

Data Type

Defines the data type of the internal variable memory being written to:

Float (32 bits)
Double (64 bits)
Short integer (16 bits)
Integer (32 bits)
Long integer (64 bits)

Evaluate Block

This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth) or background. This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0 Application-specific data. See User Data Storage.
User Data 1 Application-specific data. See User Data Storage.

Matlab/Simulink

Simulink Interface

The Node Number of the IO Input specifies the index of the desired Node.

The Bit Number defines which bit should be used for the input. Bit 0 is always the LSB for the input. The MSB depends on the word type: 15 for short integer, 31 for float and integer, and 63 for double and long integer.

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. For more information, see User Data Storage.

The block's update schedule is determined by the Evaluate Block. The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink model:

 

C++ API

IO_INPUTBlock

Declaration

Public Method

  
class IO_INPUTBlock: public virtual Block
{
public:

	// User accessible coefficients
	long				BitNumber;
};
 

Required Header: mechaware.h

Description

The IO_INPUT block is used to access specific node and motor I/O flags. For more information, see Overview.

long
BitNumber
Bit Number for the input.

Methods

Block Methods

See Also

Bit Output | IO Input

 
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