How to use IO Handler when UR not in RUN Mode

URCap Development URCaps SDK
1

How to activate the function for digital IO in URCap from Installation node?
For eg,

  1. To activate the buzzer beep (1 sec pulse 50% duty cycle) via digital Out DO1 when emergency push button is pressed.
  2. to send a pulse to tool port digital out0 when standard digital DO0 turn ON or button on installation screen is pressed
2

The only way I’ve been able to monitor IO without running is by using the IO handler (like you’re mentioning) but in a Java thread. I usually launch these from the Activator, since it is only run once. In that thread you can set your functions to monitor the inputs and drive outputs.

3

Great, Thanks for the information. this is what I am expecting.
I am new for this. Do you have sample program to link the IO handler to activator?

4

In the Activator I just create a new instance of a custom class and let the Constructor of that class set everything up. So I just have

new IOChecker()

And that’s it. In that class I’ve got a function called setProvider(InstallationAPIProvider provider) which I call from the Installation Contribution’s Constructor so that the IO Monitor can grab an API provider to get access to the IOModel.

image

Then in the Installation Constructor I pass its apiProvider into the IOChecker class:
image

Now the IOChecker class has access to an API, so you can do the getIOModel() method and go from there with making your thread

5

Thanks a lot for your guidance. it works well for installation node… i will try from activator