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Inputs and outputs

List the physical I/O of a Staubli controller, read several I/O in one request and write outputs, without a VAL 3 program.

List the I/O
Read I/O
Write I/O
Try it in the demo application
Reference

This page shows how to list, read and write the physical inputs and outputs of a Staubli CS8 or CS9 controller with the SDK: digital, analog and the other I/O of the boards of the controller. No VAL 3 program is needed.

List the I/O

GetAllPhysicalIos() returns every physical I/O of the controller, with its name, its type and its description.

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Every physical I/O of the controller
PhysicalIo[] ios = controller.Soap.GetAllPhysicalIos();

foreach (PhysicalIo io in ios)
{
    // TypeStr: din, dout, ain, serial...
    Console.WriteLine($"{io.Name} [{io.TypeStr}] {io.Description} lockable={io.Lockable}");
}
controller.Disconnect();
}

Click to see the full code

The name identifies the I/O in the read and write methods. It contains the board and the I/O, separated by a backslash, for example BasicIO-1\%I0. The boards depend on the configuration of each controller: read the names with GetAllPhysicalIos(), do not guess them. In C#, write the name as a verbatim string (@"BasicIO-1\%I0"), in Python as a raw string (r"BasicIO-1\%I0").

TypeStr gives the type, for example din or dout for a digital input or output, ain for an analog input, serial for a serial line.

Read I/O

ReadIos(names) reads several I/O in one request. It returns one PhysicalIoState per name, in the same order.

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Names as returned by GetAllPhysicalIos
string[] names = { @"BasicIO-1\%I0", @"BasicIO-1\%Q0" };

// One state per name, in the same order
PhysicalIoState[] states = controller.Soap.ReadIos(names);

for (int i = 0; i < names.Length; i++)
{
    PhysicalIoState state = states[i];

    // State tells if the name exists on this controller
    if (state.State != PhysicalIoEnumState.Defined)
    {
        Console.WriteLine($"{names[i]}: {state.State}");
        continue;
    }

    Console.WriteLine($"{names[i]} = {state.Value} locked={state.Locked} simulated={state.Simulated}");
}
controller.Disconnect();
}

Click to see the full code

State is Defined when the name exists, Undefined or InvalidName otherwise. Test it before you use the value.
Value is a number: 0 or 1 for a digital I/O.
Locked and Simulated tell if the I/O is locked or simulated on the controller.

Write I/O

WriteIos(names, values) writes several outputs in one request. The two arrays have the same length.

var controller = new StaubliController();
controller.Connect("192.168.0.254");
string[] names = { @"BasicIO-1\%Q0", @"BasicIO-1\%Q1" };

// One value per name. Digital outputs: 1 is on, 0 is off
double[] values = { 1, 0 };

PhysicalIoWriteResponse[] responses = controller.Soap.WriteIos(names, values);

for (int i = 0; i < names.Length; i++)
{
    if (!responses[i].Found)
        Console.WriteLine($"{names[i]}: unknown name");
    else if (!responses[i].Success)
        Console.WriteLine($"{names[i]}: write refused");
}
controller.Disconnect();
}

Click to see the full code

The answer has one PhysicalIoWriteResponse per name:

Found is false when the name does not exist.
Success is false when the controller refused the write, for example for an input.

Try it in the demo application

Everything on this page can be tried without writing code, in the Physical IOs page of the demo application.

Physical IOs page of the Staubli SDK demo application

The demo application is open source. The C# source of this page is PhysicalIosControl.cs.

Reference

Methods of SoapClientBase :

// Get all the physical I/O values of the controller
PhysicalIo[] GetAllPhysicalIos();

// Read the state of specified physical I/Os
PhysicalIoState[] ReadIos(string[] ios);

// Write values to specified physical I/Os
PhysicalIoWriteResponse[] WriteIos(string[] ios, double[] values);

Class

PhysicalIo

C#Python

Represents a physical I/O on the robot.

Member	Type	Description
PhysicalIo() Constructor
Description Property	string	Description of the physical I/O.
Lockable Property	bool	Indicates whether the physical I/O is lockable.
Name Property	string	Name of the physical I/O.
TypeStr Property	string	Type of the physical I/O (e.g., din, dout, ain, serial, ...).
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Class

PhysicalIoState

C#Python

Current state and value of a physical I/O.

Member	Type	Description
PhysicalIoState() Constructor		Initializes a new instance of the `PhysicalIoState` class.
Attribute Property	PhysicalIoAttribute	I/O type-specific attributes (analog or digital).
Locked Property	bool	Indicates whether the I/O is locked.
Simulated Property	bool	Indicates whether the I/O is in simulation mode.
State Property	PhysicalIoEnumState	Definition state of the I/O.
Value Property	double	Current numeric value of the I/O.
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Enum

PhysicalIoEnumState

C#Python

Definition state of a physical I/O.

Name	Value	Description
Defined	0	The I/O is defined and available.
InvalidName	2	The I/O name is invalid.
Undefined	1	The I/O is not defined.

Class

PhysicalIoWriteResponse

C#Python

Result of a physical I/O write operation.

Member	Type	Description
PhysicalIoWriteResponse() Constructor		Initializes a new instance of the `PhysicalIoWriteResponse` class.
Found Property	bool	Indicates whether the specified I/O was found.
Success Property	bool	Indicates whether the write operation succeeded.
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Class

PhysicalIoAttribute

C#Python

Physical I/O attribute containing either analog or digital specific attributes.

Member	Type	Description
PhysicalIoAttribute() Constructor		Initializes a new instance of the `PhysicalIoAttribute` class.
AioAttribute Property	PhysicalAioAttribute	Analog I/O specific attributes (null if digital).
DioAttribute Property	PhysicalDioAttribute	Digital I/O specific attributes (null if analog).
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

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Inputs and outputs

List the I/O

Read I/O

Write I/O

Try it in the demo application

Reference