Input Address Space

The input address space contains data that is sent from the servos and I/O modules in the network and received by the WMX3 engine. This data is updated every communication cycle, and may be associated with sensors, switches, buttons, encoders, and other measurement instruments.

The method of mapping data that is produced by the servos and I/O modules to the input address space depends on the platform. See the discussion for the platform in use inside this manual. By default, input addresses are mapped in the order that the servos and I/O modules are connected to the network, but it is also possible to map specific data in specific servos and I/O modules to specific input addresses.

  • The size of the input address space is maxIoInSize bytes.

  • All bytes in the input address space contain 0 when the WMX3 engine is started.

  • Input addresses that are not mapped to any servo or I/O module in the network will always contain 0.

  • Data in the input address space can be read using the functions in the Io class.

  • Expedited I/O functions read data from the input address space faster, but have restrictions. See Expedited I/O Functions for additional information.

  • Analog I/O functions read 1 to 4 bytes from the input address space as a signed or unsigned integer. See Analog I/O Functions for additional information.

The following table lists the functions that read data from the input address space.

Function

Expedited

Analog

Remarks

GetInBit

No

No

This function reads one bit from the input address space.

GetInByte

This function reads one byte from the input address space.

GetInBytes

This function reads multiple bytes from the input address space.

GetInAnalogDataChar

Yes

This function reads one byte from the input address space as a signed integer.

GetInAnalogDataUChar

This function reads one byte from the input address space as an unsigned integer.

GetInAnalogDataShort

This function reads two bytes from the input address space as a signed integer.

GetInAnalogDataUShort

This function reads two bytes from the input address space as an unsigned integer.

GetInAnalogDataInt

This function reads four bytes from the input address space as a signed integer.

GetInAnalogDataUInt

This function reads four bytes from the input address space as an unsigned integer.

GetInBitEx

Yes

No

This function reads one bit from the input address space.

GetInByteEx

This function reads one byte from the input address space.

GetInBytesEx

This function reads multiple bytes from the input address space.

GetInAnalogDataCharEx

Yes

This function reads one byte from the input address space as a signed integer.

GetInAnalogDataUCharEx

This function reads one byte from the input address space as an unsigned integer.

GetInAnalogDataShortEx

This function reads two bytes from the input address space as a signed integer.

GetInAnalogDataUShortEx

This function reads two bytes from the input address space as an unsigned integer.

GetInAnalogDataIntEx

This function reads four bytes from the input address space as a signed integer.

GetInAnalogDataUIntEx

This function reads four bytes from the input address space as an unsigned integer.