5.2 Working with I/O signals
5.2.1 Modifications in the project main file
Now we tell the compiler to use the UniPi I/O driver. This is what needs to be done:
- Rename the MODULE block to RPiDrv – CASE SENSITIVE!
Further link the IODRV block with the RPiDrv module by setting
- – CASE SENSITIVE!
For UniPi set the following:
- – CASE SENSITIVE!
- Leave the cfgname parameter blank.
- Leave the other parameters intact.
As the final step, rename the IODRV block to UNP, which will serve as a prefix for all I/O signals of this driver.
The executive of the REX Control System is configured, your project should look like this:
5.2.2 Modifications in the task
In the task double-click the input flag and set .Note the UNP prefix and two underscore characters. The first physical switch will be connected to digital input I01.
The second physical switch will be connected to I02 (UNP__IO2) and relay 1 will serve as the output signal (UNP__RLY3).
Similarly for other pins we could use the following flags:
- Goto, UNP__RLY8 – relay output 8
- From, UNP__I03 – digital input 3
- From, UNP__AI1 – analog input 1
A detailed description of the I/O driver for UniPi is available in a separate manual [5].
Your project should now look like this:
After compiling the project and downloading it to the Raspberry Pi the control algorithm interacts with the physical world. Again it is possible to switch to online mode and watch the signals in real-time or analyze the trends of signals. Flip the physical switches and watch the signals.
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