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Changelog

Latest features, improvements, and fixes.

10.6.6 Jan 28, 2025

  • New rsiconfig - Axis XML - optional NetworkNode validation before writing SDO values.
  • New Yaskawa SGDXW 2-Axis and SGDXT 3-Axis support.
  • Update MotionController Reset() and Refresh() delete internal objects before recreating
  • Update RapidSetupX - Recorder - Scope renamed to Recorder, simplified trace adding, and CSV loading improved.
  • Update Linux - rsiconfig upgraded from .NET 7 to .NET 8 (LTS).
  • Fix Linux - libpython3.11 dependency removed from RMP debian package.
  • Fix Axis - Home methods 119 to 130 no longer incorrectly set Home Action before stage four.
  • Fix RapidSetupX - IO not updating and axis repeat motion not working.

10.6.5 Dec 23, 2024

  • New Linux - Python (3.9, 3.10, 3.11) support.
  • New RapidCode - SDO Read/Write bytes support.
  • New RapidCode - MotionController::Get() for getting an already running RMP.
  • New RapidSetupX - Copy license to server.
  • Update RapidSetupX - Improve network timing metrics.
  • Update RapidSetupX - TreeView redesign.
  • Update RMPNetwork - EtherCAT discovery process improved.
  • Fix Linux - MotionController::NetworkShutdown works irrespective of the starting process.

10.6.4 Nov 22, 2024

  • New RMPNetwork - Ethernet over EtherCAT (EoE) Windows support.
  • New Moons’ MDX support.
  • New rsiconfig - SDOConfigValues support byte arrays.
  • New RapidCode - MotionController::NetworkEniGenerate().
  • New RapidSetupX - ENI file generation.
  • New RapidSetupX - master based homing.
  • Update RapidSetupX - all watch windows enums are selectable.
  • Update RapidCodeRemote - Axis - moved homing configuration to Action and Status.
  • Fix rapidserver - improved reliability on MotionController Shutdown action.

10.6.3 Nov 6, 2024

  • New Linux - Cartesian Robot/G-Code support.
  • New RapidCode - EL1918 Safety Controller support.
  • New RapidCode - Axis/MultiAxisAddressTypeCURRENT_FEEDRATE.
  • Update NodeInfo - Panasonic overspeed default InitCmd removed.
  • Update rsiconfig - More detailed messages for ENI generation.
  • Update RapidSetupX - PositionError scaled by UserUnits Scope and memory watch.
  • Fix RapidSetupX - TreeView item order issue.

10.6.2 Oct 9, 2024

  • New G-Code - G0 Rapid Positioning.
  • New RapidSetupX - Scope rearm for repeated captures.
  • New RapidSetupX - Scope trace scaling, improved file loading, layout.
  • New RapidSetupX - PreOperational support.
  • New RapidSetupX - local storage for settings.
  • New RapidCode - Axis XML OriginPositionSet if manually entered.
  • Update RapidCode - Windows .NET libraries upgraded from 4.5 to .NET Standard 2.0.
  • Update rsiconfig - better error messages if/when a Network Start or Discovery fails.
  • Update RapidCode - RecorderTriggerOnMotionGet() returns true from the time motion starts until it is done.
  • Fix RapidCode - Axis/MultiAxis MovePT() throws RSIMotionMessageTYPE_INVALID when called with RSIMotionTypePVT.
  • Fix RapidSetupX - Watch window search and filtering.

10.6.1 Sep 16, 2024

  • New Linux - sudo no longer required.
  • New RapidSetupX - Axis move furthest button and repeat motion feature.
  • New RapidSetupX - Scope trigger on motion.
  • New RapidSetupX - NIC field autocomplete.
  • New RapidCode - MotionController::RecorderTriggerOnMotionGet().
  • New RapidCodeRemote - Recorder Configuration trigger on motion added.
  • New RapidCodeRemote - add short_message to ErrorMessage
  • Update RapidCode - MotionController::MemoryGet improvements for speed and safety.
  • Update RMPNetwork - Better identification of Wago IO.
  • Update Linux - improved permissions error messages.
  • Update Linux - All RMP and RapidCode shared memory objects now start with RSI.
  • Update Linux - RMP process will not exit if its creating process is terminated.
  • Update ESI cache parsing errors logged to RapidENI.log.
  • Update RapidSetupX - Textbox validation error readability.
  • Update RapidSetupX - Scope markers added and circular buffer render improvements.
  • Update RapidSetupX - Logged errors copy functionality improved.
  • Fix RapidSetupX - Scope render freeze on Linux.
  • Fix RapidSetupX - List filtering.

10.6.0 Aug 29, 2024

  • New RMP Linux - arm64 Debian package.
  • New RapidCode - RSIMotionAttrMaskNO_INTERRUPT_ENABLE for MovePT/MovePVT startup performance.
  • New RapidSetupX - supports Arm64 for Windows, Linux and MacOS.
  • New RapidSetupX - MultiAxis layout.
  • Update RapidCode - RapidVector moved from Cartesian to RSI::RapidCode namespace.
  • Update RapidSetupX - Better licensing, and network last log.
  • Fix RapidSetupX - Scoping values with same name issue.
  • Fix RapidSetupX - Watch view search and select-box with no values.
  • Fix RapidServer - Network Status log messages are all returned, not just the last one.
  • Fix CustomNodeInfo - Replacement handles non-exact matches of NodeInfo entries.
  • Fix RMP - Improved memory mapping for INtime 7.1.
  • Fix RMP - Licenses will no longer expire in 2038.

10.5.5 Jul 30, 2024

  • New Gcode - G4 (Dwell) command.
  • New RapidSetupX - PDO view.
  • New rsiconfig - –verbose option for use with -get-serial and -check-license.
  • Update RapidSetupX - Improved network topology treeview, node page, dark theme.
  • Fix G-Code - Arc moves (G2/G3) with the same start and end point create full circle moves.
  • Fix RapidSetup - password button click restored.

10.5.4 Jul 10, 2024

  • New NiMotion PMM support.
  • New RapidSetupX - scope tracking feature and improved layout/zooming.
  • New RapidSetupX - tree view shows network topology.
  • New MotionController, Axis, MultiAxis InterruptUserDataAddressGet/Set for custom data with each interrupt.
  • New RMPNetwork - Network clock synchronization diagnostic and adjustment options.
  • New MotionController address types for NETWORK_CLOCK settings.
  • New Elmo Platinum fault details.
  • New Cartesian Robot - rotational units when creating a LinearKinematicModel or converting to/from quaternions.
  • Update GCode: rotations in degrees and rotation speed is in (degrees/minute).
  • Update RapidSequencer deprecated.
  • Update Cartesian Robot: Speed of rotational moves (ABC/RPY) is in (units/second) instead of (10 units/second).
  • Fix RMPNetwork - AutoDetection now exchanges Inputs/Outputs without a CustomNodeInfo entry.
  • Fix NodeInfo.xml - Wago removed false positive digital input identification.

10.5.3 May 20, 2024

  • New RapidCode - Ready to build C++ sample apps included.
  • New Beckhoff EL1054 support.
  • New Cartesian Robot - GCode parsing and processing error message improvements.
  • New Cartesian Robot - SampleCounterGet/Wait.
  • Update Cartesian Robot - G92 position offsets.
  • Update Cartesian Robot - End effector and origin transforms use RobotPosition to support free axes.
  • Update CustomNodeInfo.xml - node details replaced at the Product level rather than the Vendor Level.
  • Update RapidSetupX - New page layout, added network timing metrics, and general improvements.
  • Update RapidSetupX - Improved scope features and UX.
  • Update RapidSetup - MultiAxis buttons are no longer disabled during motion.
  • Fix RapidSetup - GCode load & render progress bar gets stuck when the file contains no motion.
  • Fix RapidCodeRemote - Axis ConfigSet ErrorLimit Duration.
  • Fix RapidCodeRemote - MultiAxis StatusGet() Motion Status Bits updated.
  • Fix Cartesian Robot - KinematicModel::IsArticulated and improved joint angle normalization.
  • Fix Cartesian Robot - Free axes trajectories.

10.5.2 Apr 1, 2024

  • New INtime - Intel 2.5, 10 and 40 Gbps NICs support (requires INtime 7.1).
  • New RapidSetupX (Beta) - Continuous improvements.
  • New RapidSetup - Now suggests CustomNodeInfo entries for unintegrated nodes.
  • New RapidServer - Logging.
  • Update RapidSetup - User limits now allow more Outputs variations.
  • Fix RapidSetup - NetworkData output pin button.

10.5.1 Feb 16, 2024

  • New RapidSetupX (Beta) - Tool for Windows, Linux, & MacOS.
  • New RMP firmware - MathBlocks for real-time math and bit-masking operations.
  • New RapidServer - NetworkNode Digital and Analog I/O data types updated.
  • New RapidCodeRemote - MultiAxis new actions map, unmap. New status is_mapped. Config set with axes_indices will AxisRemoveAll() first.
  • Update RapidCode - Objects upgraded to global, named locks for interprocess synchronization and safety.
  • Update Cartesian Robot - PathState returns Idle if/when joints are moved directly.
  • Update RapidCodeRemote - MultiAxis Status amp_enabled and Motion parameters renamed.
  • Fix RapidCode - Default values for Axis now retrieved from RMP memory for multi-process consistency.
  • Fix RapidCodeRemote - RapidServer no longer recreates RapidCode object on MotionControllerConfigGet.
  • Fix Linux - RMPNetwork no longer outputs argument help when started via RapidCode.
  • Fix Linux/rsiconfig - default path separator for Axis XML files.

10.5.0 Jan 16, 2024

  • New DS402 Drives - Faster integration with automatic detection of most Network Indexes.
  • New rsiconfig - AxisFrameBufferSize support (getting/setting).
  • New Cartesian Robot - KinematicModelBuilder can add free axes to a kinematic model.
  • New Cartesian Robot - RapidVector for supporting std::vector in C++ and C# added.
  • New Cartesian Robot - RobotPosition uses RapidVector for Free Axes.
  • New Cartesian Robot - Implement Free Axis Motion.
  • New Cartesian Robot - G-Code motion group is modal. G1, G2, G3, G4.
  • New Cartesian Robot - GcodeCallback support for M-Codes.
  • New Cartesian Robot - Actual/CommandPoseGet() overloads allow different LinearUnits.
  • Update Cartesian Robot - PathPlannedPositionsGet() replaces PathPlannedPointsGet().
  • Update Cartesian Robot - Gcode methods moved to Gcode object. Use Robot.Gcode.
  • Update Cartesian Robot - Gcode.PlannedPositionsGet() added.
  • Update MotionController.CreationParameters member names adjusted.
  • Update RMP - AxisFrameBufferSizeDefault updated to 1024 from 512.
  • Fix RapidSetup - NetworkData pin missing color.
  • Fix RapidSetup - Now recreates config files if corrupted.
  • Fix RapidCodeRemote - RapidServer improved locks for MotionController Config object counts.

10.4.4 Sep 28, 2023

  • New rsiconfig - "-eni" option to generate an ENI file.
  • New Axis::StatusBitsGet() added.
  • New RapidSetup - new Clean ENI cache button.-
  • New LS iX7NH drive support.
  • New RSINodeTypeBECKHOFF_EL4022 enumerated.
  • New RSIControllerAddressTypeNETWORK_TIMING_RECEIVE_DELTA..
  • Update RapidCodeRemote - Recorder record retrieval moved from Status to Action.
  • Update RapidCodeRemote - Axis actions, Network actions and status, Node info.
  • Update rsiconfig - uses System.CommandLine.

10.4.3 Jul 6, 2023

  • New MotionController::NetworkNodeGet() creation method.
  • New MotionController::Create() with parameter structure.
  • New CustomNodeInfo.xml includes improved descriptions and examples.
  • New RapidCodeRemote - SampleRate, Constants and ErrorSource added.
  • New Yaskawa GA700, Odear DSEX16Y16L-MW, and Odear DSA2D2Y8L support.
  • New RSIControllerAddressTypeNETWORK_TIMING_DELTA added.
  • New MotionController::FirmwareTimingDeltaGet() in RapidCode, RapidCodeRemote, RapidSetup.
  • New Ability to order Network Inputs Outputs by Node order (Add CustomNodeInfo.xml -> Settings -> StrictNodeOrder Tag).
  • Update RapidCodeRemote - reuse AddressInfo message for Network and Node IO.
  • Update ENI generation handles missing expected entries in ESI files.
  • Update SMC-EX260 Outputs autodetected.
  • Fix MotionController configuration changes (AxisCountSet(), etc.) now throw if any Axis is in motion or any Recorder is recording.
  • Fix RapidCodeRemote - Axis::StopTimeSet and Axis::EStopTimeSet().

10.4.2 Apr 14, 2023

  • New RSIAxisAddressTypePOST_TRAJECTORY_GEARING_POSITION added to allow calculations with current gear position.

10.4.1 Mar 27, 2023

  • New RapidCode for Python 3.10.
  • New RapidSetup - Sequencer globals clear button and running scripts display.
  • New RSIAxisAddressTypeAMP_ENABLE_AMP_FAULT_TIMEOUT to get/set the time before an Amp Fault after AmpEnableSet(true).
  • New RapidSequencer - GlobalVariablesClear RPC.
  • New RapidSequencer - compiler now emits error when redefining global variable as another type.
  • Fix RapidSequencer - EngineTaskListGet TaskInfo source and compiled filenames.
  • Fix RapidSetup - ClearAllFaults action from tree view item.
  • Fix RapidSetup - Dashboard view not fully expanding.
  • Fix RapidSetup - Sequencer globals boolean property selection.
  • Fix Beckhoff EP4378 analog input support.

10.4.0 Jan 20, 2023

  • New RapidCodeRemote and RapidSequencer .proto files released.
  • New cartesianrobot.h released.
  • New MDP and IO Link support.
  • New Wago support.
  • New ifm AL1930 support.
  • New Sanyo Denki RS3 support.
  • New Beckhoff EL6900 Safety support.
  • Update RsiError adds objectIndex field and is displayed in RapidSetup.
  • Update CartesianRobot - path motion algorithm optimized for velocity and acceleration with small lines.
  • Update rsiconfig - errors if ExpectedNodeCount is greater than the discovered node count.
  • Update CartesianRobot - .NET operator overrides renamed.
  • Fix RapidSetup - Axis page ABORT button sometimes fails to abort proper axis index. (introduced 10.3.10)

10.3.14 Sep 30, 2022

WARNING Please use version 10.4.0 or greater.

  • New Festo CMMT-AS Home bit added.
  • New Cartesian Robot - EStop(), Abort(), Stop(), EStopAbort() added.
  • Update RapidSetup - MultiAxis StopTime and EStopTime settings.
  • Update Cartesian Robot - PathRun() and GcodeRun() changed to Run().
  • Update Cartesian Robot - Able to move axes independently (and command robot motion after)
  • Fix Cartesian Robot - Run() no longer calculates internal timeout.
  • Fix RMPNetwork - discovery delay for slow system/drive combinations (rare).

10.3.13 Sep 20, 2022

WARNING Please use version 10.4.0 or greater.

  • Update RapidSetup -.NET Framework 4.6.1 now required.
  • Update rsiconfig - RSINodeTypeUNKNOWN skips NetworkNode type checking.
  • Fix RapidCode - Corrected Beckhoff EL1088 and EL2008 RSINodeType enum values.
  • Fix Cartesian Robot - Resolve time rounding issue.
  • Fix Cartesian Robot - PathPlannedPointsGet() matches run points.

10.3.12 Sep 14, 2022

WARNING Please use version 10.4.0 or greater.

  • New Cartesian Robot - PathIsRunning() and GcodeIsRunning().
  • New RSIAxisAddressTypeFRAME_INDEX and FRAME_LOAD_INDEX for streaming motion recordings.
  • Update Bonfiglioli Agile drive - increased SafeOp to Op timeout.
  • Fix Cartesian Robot final line velocity fixed.

10.3.11 Sep 2, 2022

WARNING Please use version 10.4.0 or greater.

  • New NodeInfo - SafeopOpTimeout adjustment added.
  • Update Cartesian Robot - path moves can be shorter than StopTime.
  • Update Cartesian Robot - path motion updates forward kinematics from joints positions before the first move.
  • Fix Cartesian Robot - path motion improved when using small decelerations.

10.3.10 Aug 23, 2022

WARNING Please use version 10.4.0 or greater.

  • New CustomNodeInfo.xml feature.
  • New RapidSetup - Network IO screen: Single location to see all IO.
  • New Fastech Ezi-IO EtherCAT AD08, IN16OUT16, DA04 support.
  • Update RMPNetwork discovery requests nodes transition to Init state.
  • Update Adjusted enable behavior to ensure always setting of intended firmware value.
  • Update RapidSetup - Error screen new design.
  • Fix RapidSetup - GCode navigation issue.

10.3.9 Jul 5, 2022

  • New MultiAxis.AmpEnableGet().
  • New RapidCode constants.
  • New rsiconfig.exe - SampleRate added to XML settings.
  • Update Improved Axis AMP_FAULT when AmpEnableSet(true) times out at high sample rates.
  • Update RapidSetup - GCode UI redesign.
  • Update Rapidsetup - Sequencer IDE Improvements.
  • Update Cartesian Motion API - Simplify offset transforms.
  • Update Cartesian Motion API - Configurable internal motion buffer
  • Fix RapidSetup - Sequencer discovery improvement.
  • Fix RapidCodeRT - support for trial serial numbers.

10.3.8 Jun 1, 2022

  • New MotionController.RecorderDataAddressesSet(...) for setting multiple addresses at once.
  • Update FSoE now supports multiple Black Channels.
  • Update MotionController configuration methods (AxisCountGet(), etc.) execution time improved.
  • Fix BodeTool Plant measurement for RMP.
  • Fix RapidSetup IO label name issue.

10.3.7 May 20, 2022

  • New Kollmorgen AKD2G drive support.
  • New Nanotec PD4 drive support.
  • New rsiconfig.exe network start timeout field.
  • New Cartesian Robot improved configurability of kinematic models.
  • New ENI generation errors for networks with too many nodes or PDOs.
  • New AxisAddressType Demand Scale Channels 0-3.
  • Update Kollmorgen S700 Operation Mode support added.
  • Update Streamlined Mitsubishi J5 implementation.
  • Update Lexium28 General IO and FaultInfo.
  • Update rsiconfig.exe no longer probes twice.
  • Update RapidSequencer moved into RapidServer.exe/rta.
  • Update RMPNetwork improved acyclic frame reading for large networks (>50 nodes).
  • Fix Beckhoff EL1088, ESD ESXDI08, and ControlTechniques 753 no longer show up as unknown nodes.
  • Fix RapidSetup MultiAxis page performance improvements.

10.3.6 Apr 7, 2022

  • New AmpEnableSet() improved. Waits for AMP_ACTIVE before discontinuing command=actual.

10.3.5 Apr 4, 2022

  • New AddressDataTypeGet() added to MotionController, Axis and MultiAxis.
  • New Cartesian Robot point-to-point moves: absolute and relative.
  • Update Cartesian namespace for Robot, Path and G-code.
  • Update Mitsubishi MR-J5 - Additional error messages and default Home bit.

10.3.4 Feb 1, 2022

  • New Axis/MultiAxis AmpEnableSet() overload for timeout waiting for AMP_ACTIVE.
  • New G-Code work offsets (codes G54-G59).
  • New TPM SVR-K221 drive support.
  • New JVL Mac400 drive initial support.
  • New Elmo Platinum drive initial support.
  • Update Axis/MultiAxis MoveRelative() additional thread-safe locking.
  • Update Axis/MultiAxis MoveRelative() restores relative attribute mask on failure.
  • Fix Axis homing with custom home input issue (introduced in 10.3.2).
  • Fix Axis.HomeTravelDistanceSet(STAGE_FOUR) interference with HomeBehavior.
  • Fix RapidSequencer - improved error message when compiling missing file.

10.3.3 Dec 15, 2021

  • Update RapidCodeObject::CacheEnableSet() removed.
  • Update Expanded Linmot implementation to include more drives.
  • Update RapidSetup polling performance improvements (lower CPU usage).
  • Update Jenny Science XENAX drive support.

10.3.2 Nov 17, 2021

  • New CartesianRobot class for advanced path motion and G-Code with kinematics.
  • New RapidSetup Dashboard.
  • New RapidSetup NetworkData filtering and pinning.
  • New RapidSetup mouse wheel zoom.
  • New MotionController.InterruptUserDataDoubleGet().
  • Update RMPNetwork auto-detect link speed support.
  • Update Axis.TargetPositionGet() support restored.
  • Update Axis.AddressGet() includes RSIAxisAddressTypeTARGET_POSITION.
  • Update Axis improved homing methods support low trigger state.
  • Update K-bus support restored.
  • Update Technosoft iPOS8015 support.
  • Update Beckhoff EL2819 support.
  • Update Mitsubishi JET drive support.
  • Update Linmot C1250 drive support.
  • Update Beckhoff EL2505 default IO support.
  • Update Beckhoff EL6910 without Safety.xml support.
  • Fix Axis torque mode gantry supports PIV filter.
  • Fix VM3 - fix writing double precision values.
  • Fix RapidSequencer - improved stepping out of loops when debugging.
  • Fix Resolved issues with some drives not starting as the first node in the network.

10.3.1 Sep 2, 2021

  • New Safety over EtherCAT (FSoE) support (requires feature license).
  • New RapidSequencer C# API.
  • Update Nidec M750 drive support.
  • Update RapidSetup - new UI for the G-Code feature.
  • Update RapidCode - checking for INtime minimum version of 6.4.x.
  • Update NodeInfo - Yaskawa default support of Velocity Actual added.
  • Update RapidSequencer - improve idle performance.
  • Update RapidSequencer - discovery speed improvement.
  • Update RapidSequencer - UI improvements.
  • Fix RapidSequencer - fix output when debugging.
  • Fix RapidSequencer - fix uninitialized integrals in compiler errors.
  • Fix RapidSetup - improved handling of missing ESI files.

10.3.0 Aug 18, 2021

  • New RapidSetup Sequencer IDE vastly improved.
  • Update RapidSetup requires .NET Framework 4.6.
  • Update RapidSequencer requires INtime 6.4.21125.2.
  • Update RapidSequencer changed server architecture to be fully asynchronous.
  • Update RapidSequencer migrated IPC/RPC mechanisms to gRPC.
  • Fix RapidSequencer with various general improvements.

10.2.4 Aug 18, 2021

  • Update Additional Lenze error code support.
  • Fix DumpDiff and VM3 (-load) license errors.

10.2.3 Jul 7, 2021

  • New G-Code functionality added to MultiAxis.
  • Update AMC FlexPro drive support.
  • Update Capitan XCR drive support.
  • Fix RapidSetup - fixed Axis page where error source was not being cleared.
  • Fix RapidSetup now shows all startup exceptions.
  • Fix RapidSetup issue displaying UserUnits on Axis and MultiAxis.
  • Fix RapidSetup multi-selection I/O style improved for readability.
  • Fix Axis.MotionCamMasterStartGet() issue resolved.

10.2.2 May 5, 2021

  • Update MultiAxis input arrays are no longer modified.
  • Update RapidCode API arrays updated with const contract.
  • Fix ENI generation issue with multiple Beckhoff EK11xx nodes (port type failure).
  • Fix Beckhoff EL7041 ESI file updated for RMP compatibility.

10.2.1 Feb 16, 2021

  • New RsiError message improvements.
  • New Visual C++ 2019 x64 redistributables included in installer.
  • New RapidCode64.dll embedded in RapidCode64.NET.dll (also true for x86 DLLs).
  • Update Schneider ILA support.
  • Update Mitsubishi MRJ5 MultiAxis drive support.
  • Fix Legacy license file issue.

10.2.0 Jan 21, 2021

  • New NodeInfo.xml <Unsupported state="bootstrap" /> support.
  • New Axis.BacklashValueGet() added.
  • Update RapidSetup and utilities provided as 64-bit (x64) apps instead of 32-bit (x86).
  • Update RSI.System.dll code moved into RapidCode64.Net.dll.
  • Update ENI generation library update.
  • Update Leadshine CS3E Drive support.
  • Update Hiwin ED1F support.
  • Update MotionController.SerialNumberGet() returns an unsigned 32-bit integer.
  • Update Schneider drive warning support.
  • Fix RapidSetup - when changing MultiAxisCount.

10.1.2 Nov 11, 2020

  • Update Festo CMMT supported.
  • Update Axis.OperationModeGet/Set are now supported with all DS402 axes.
  • Fix Sequencer UI components license no longer missing.
  • Fix RapidSetup Axis velocity jogging issue.
  • Fix RapidSetup Master homing issue.

10.1.1 2020-10-20

  • New RapidCode / RMP firmware version mismatch warning.
  • New RapidSequencer array support.
  • Update MotionController::FirmwareVersionGet returns const char*.
  • Update RapidSequencer Globals API simplification.
  • Update Mitsubishi MR-J5 support.
  • Fix RapidSetup Sequencer output window loading issue.
  • Fix RapidSequencer XML creation issue.
  • Fix RapidSequencer node selection issue.

10.1.0 2020-10-08

  • New eRMP support in MotionScope, VM3 and other command-line utilities.
  • Update Copley XEL support.
  • Update Documentation moved to rsi.h. Enumerations now in rsienums.h.
  • Fix RapidSetup phantom axes display properly.
  • Fix RapidSetup Drive Based Homing can now be canceled.

10.0.5 2020-09-17

  • New Digital Outputs added to Fuji Alpha7.
  • Update RapidSetup MultiAxis rework.
  • Update Better support for Realtek NICs.
  • Update Drive based homing supported for nodes with cyclic ModeOfOperation exchange.
  • Fix Use current working directory for utilities (VM3, MotionScope, etc).
  • Fix Drive based homing would be disabled if you had more than one node of the same type.

10.0.4 2020-09-08

  • New FileName member added to RsiError.
  • Update MotionController::Create error messages more descriptive.

10.0.3 2020-09-01

  • New RapidSequencer global variables.
  • Update EtherCATNodeInfo.xml renamed to NodeInfo.xml.
  • Update RapidSequencer Language and Editor improvements.
  • Update Nexcom NEIO1812 support.
  • Update Delta R1 Pulse Module support.
  • Update Sick Flexi Soft Safety Controller support.
  • Update RapidSequencer improvements.

10.0.2 2020-08-05

  • New Expanded IOPoints to work with memory addresses and network PDOs.
  • New rsiconfig.exe adds serial number and licence checking with –help option.
  • New RapidSetup dark theme.
  • Update C# and RapidSequencer sample apps updated.
  • Update Kollmorgen AKD-N drive support.
  • Update B&R X20 System support.
  • Update Moons STF stepper drive support.
  • Update Moons SSDC Series Step-Servo drive support.
  • Update Fuji Electric Alpha7 drive support.
  • Update Fastech Ezi-SERVOII Mini stepper drive support.
  • Update Beckhoff P module support.
  • Update Panasonic Minas 6 support.

10.0.1 2020-07-02

  • Update RSI version improvements.

10.0.0 2020-06-30

  • New RapidSequencer and RapidSequencerRT.
  • New RapidCodeRT libraries.
  • New Run RMP on any INtime node.
  • New Delta R1 Series IO support.
  • Update INtime 6.4.20030.1 or higher required.
  • Update RapidCode libraries renamed.
  • Update RapidCode requires 2015/2017/2019 VC runtime.
  • Update rsi.h uses stdint types (ex int32 => int32_t).

8.3.2 2020-06-08

  • New Yaskawa SGD7S 400V support.
  • New CTB GH support.
  • New EP4378 support.
  • New Network Data Type Getters.
  • New Error Code support for Copley Drives: XEC, TE2, and XE2.
  • Update Offline documentation is now zipped HTML, included with releases (not CHM).
  • Update Improved CompensatorConfigSet.
  • Fix Yaskawa SGDV default PDO entry changes.

8.3.1 2020-04-28

  • Fix RMP firmware internal memory structure changes prevent a rare MultiAxis TRIGGERED_MODIFY bug.

8.3.0 2020-04-14

  • New Ability to create Compensators with the same input and output Axis.
  • Update Compensators use raw encoder counts and not User Units.
  • Update Fastech EZI-SERVO EtherCAT drive support.
  • Update Fastech EZI-SERVO ALL drive support.
  • Update SDO Read/Write and AKDASCIICommand() thread-safe locking.
  • Fix VM3 when viewing memory dump file's word orientation for 64-bit double precision values.

8.2.1 2020-03-11

  • Fix Triggered Modify behavior with streaming motion.
  • Fix dumpframes, dumpevents and bodetool utilities no longer complain of missing license file.

8.2.0 2020-02-19

  • New Support for INtime USB keys with 32-bit serial numbers (was 16-bit).
  • New Position compensation tables: 1D and 2D, multiple compensators additive.
  • New Oriental NETC01 support.
  • New rsiConfig now supports Recorders and Compensators.
  • Update EtherCATNodeInfo.xml Yaskawa digital IO changes.
  • Update RMPNetwork - reduced FoE logging when transferring large files or using a small mailbox.
  • Update C4251 and C4091 C++ warnings eliminated.
  • Fix rsiConfig - Fixed problem setting Axis XML without path.

8.1.9 2020-01-31

  • Update Default FoE Mailbox size set to 128 bytes.

8.1.8 2020-01-21

  • New Improved DS402 Master Based Homing.
  • New Adding MOTOR_DATA_STATUS to AddressGet.
  • New RapidSetup displays packet error counters.
  • New XE2 support.
  • Update RapidSetup Error Messages redesign.
  • Update SMC_EX600 Updates.
  • Update rsiConfig expanded path support.
  • Update RapidSetup MessageBox and NetworkData PDO Input Changes.
  • Fix Fixed an issue with FoE at the end of some transfers.
  • Fix Fixed a rare initialization issue with UserLimit Setup.

8.1.7 2019-09-09

  • Fix SDO status buffer created once per node rather than once per call.
  • Fix PageFault related to continuous SDO reads during loss of network.

8.1.6 2019-08-29

  • New iBase TPM STP-K121 drive support.
  • New rsiConfig -generate will create an ENI file if missing.
  • Update RapidSetup - desktop shortcut includes version number.
  • Update EtherCATNodeInfo.xml now supports comments.
  • Update SMC-EX600 support.
  • Update EL9510 support.
  • Fix PageFault related to running RMPNetwork.rta without RMP.rta running.
  • Fix PageFault related to multi-axis drive IO.

8.1.5 2019-07-08

  • New UserLimit Output feature can copy any value in firmware to output.
  • New TC_ACTUAL_POSITION & TC_COMMAND_POSITION added to RSIAxisAddressTypes.

8.1.4 2019-06-28

  • New Axis.DriveIndexGet support.
  • New NetworkNode.AxisCountGet() added.
  • New Custom timeouts available with overloads to NetworkStart and Service Channel functions.
  • New Custom ControlWord Bits On/Off added to EtherCATNodeInfo.xml.
  • New Expanded options available to NetworkOutputAddressGet.
  • New Working Directory Display Added to File Tab.
  • Update Added Digital Inputs/Outputs and Actual Velocity to default Yaskawa implementation.
  • Update Improved SDO Error messages.
  • Update Improved IO support for EtherCAT IO Nodes.
  • Update Missing ESI File Dialog Rework.
  • Update NetworkStart set to timeout after 30 seconds.
  • Fix Fixed an issue with Remote Desktop when using USB dongle licenses.
  • Fix Fixed Error 7170 (thread running) when calling MotionController::Delete().

8.1.3 2019-04-02

  • Update RapidSetup Axis and MultiAxis repeat motion disabled on errors, amp disabled, and switching views.
  • Update RMPNetwork sets Amp Fault for each axis on shutdown.
  • Update UserLimit methods now use cached AxisCount to improve performance.
  • Update SourceNameGet() no longer throws exception when it cannot read extra Amp Fault text.
  • Fix RapidSetup - SDO Read/Write string values.
  • Fix 64-bit RapidCode libraries now support tracing and home logging.
  • Fix RMPNetwork intermittent shutdown issues when nodes lose power or are disconnected.
  • Fix RapidSetup - Axis Master-based Homing: Move To Zero and Log Homing were reversed.
  • Fix RapidSetup - unable to set Home Method 18.

8.1.2 2019-03-06

  • New 64 bit library support for INtime USB keys.
  • Update Reworked Exceptions, Properties, and Commands in RapidSetup.
  • Update No longer report logging messages to stdout for trace/homing.
  • Fix Fixed an Issue which showed two AI & AO for AKDs.

8.1.1 2019-02-07

  • New FoE (File over EtherCAT) added to the RMP.
  • Update Minor tweaks made to RapidSetup.

8.1.0 2019-02-01

  • New User Limits in RapidSetup.
  • New User Limits Single-Shot feature.
  • New User Limits API additions to get configurations.
  • New MotionController::AddressFromString and StringFromAddress methods.
  • New Support for INtime USB keys.
  • Update Additional Beckhoff Analog Input detection.
  • Update UserLimitConditionSet for 32-bit masking now uses uint32 for bitmasking types.
  • Update UserLimitConditionSet for 64-bit double comparison no longer requires a mask parameter.
  • Update Global Mutex for windows services.
  • Update RapidSetup error reporting improvements.

8.0.8 2018-11-28

  • New Added Rollover support for more feedback resolutions.
  • Fix Fixed an AKD Index Homing issue caused by changes in newer firmware.

8.0.7 2018-10-30

  • New Parker Drive support.
  • New Sick Encoder support.
  • New axisControlwordOutputGet added to NetworkAPI.

8.0.6 2018-10-01

  • Update Added two gains to the PIV Tuning Window.
  • Fix Motion Scope startup issue.
  • Fix StreamingOutputs frame allocation issue.
  • Fix 64-bit library fixes for FeedbackPointerGet/FeedbackPointerSet, NetworkStart and NetworkIndexGet.

8.0.5 2018-09-28

  • New FilterDualLoop is now supported with the RMP.
  • Update IO Node Address and Mask accessors improved.
  • Update Panasonic drives now use the new IO Implementation of EtherCATNodeInfo.
  • Fix Fixed an Issue with User Limit creation.
  • Fix Fixed an Issue with Beckhoff Stepper Limits.

8.0.4 2018-09-21

  • Update ABB Microflex EtherCATNodeInfo Changes.

8.0.3 2018-09-18

  • New INVT DA200 support.
  • New ABB Microflex support.
  • Update Improved Datagram/Sync0 Alignment.
  • Update Name change removing Axis from NetworkIndexSet, NetworkIndexGet, & NetworkIndexType.
  • Update Various minor RapidSetup Improvements
  • Fix Analog Outputs now work from an IO Page.
  • Fix System Time no longer adjusted when in Master Shift Mode.

8.0.2 2018-08-13

  • New Secondary Feedback support for DS402 Drives.
  • New DS402 16 Bit Encoder support.
  • New NetworkAxisIndexSet & NetworkAxisIndexGet Added.
  • New MultiAxis AddressGet Added.
  • New FeedRate can be set with User Limits.
  • Update Generic DS402 reworked to be more flexible.

8.0.1 2018-07-09

  • New AL Status & Code collected by the EtherCAT Master.
  • New Data Link Layer now accessible via ServiceChannel calls.
  • Update RMP Velocity Mode processing now enabled by default.
  • Fix Fixed two issues with Beckhoff Steppers.

8.0.0 2018-06-18

  • New New Version RapidSetup - requires .NET 4.5.
  • New UserData for UserLimits. See UserLimits Topic, InterruptUserDataGet, and UserLimitInterruptUserDataAddressSet.
  • New Lenze I550 support.
  • New UserLabels for MultiAxis.
  • New IO NumberGet returns the associated Node Number.
  • Update SynqNet Capture functions removed from RMP Releases.

7.4.2 2018-05-24

  • New Additional configurations of S700s supported.

7.4.1 2018-05-17

  • New Index support for S700 Master Homing.
  • New Mitsubishi MR-J4-TM support.
  • Update Festo CMMP now starts up in CSP rather than IP.
  • Update Changed Sync0 start time to about 80 milliseconds out.
  • Update Axis default parameters stored in RMP memory.
  • Update NetworkNode defaults to ThrowExceptions(true).
  • Update Improved Repeat Camming Implementation.
  • Fix Fixed a issue reading SDO Integers after reading Strings.
  • Fix Fixed a issue with IO showing up on the wrong Node.

7.4.0 2018-03-27

  • Update Streaming Outputs API simplified.
  • Update Beckhoff ESI files updated.
  • Update Modify Events + MultiAxis + Gearing now supported.
  • Fix MultiAxis Streaming Outputs fixed when there are multiple streaming outputs per PT point.

7.3.5 2018-03-16

  • New Save RMP MemoryToFile menu item added to RapidSetup.
  • New AKD implementation now uses DS402 model.
  • New S700 support.
  • New RSIActionE_STOP_MODIFY_ABORT and RapidCodeMotion::EStopModifyAbort() added.
  • New MotionController NetworkOutputIntendedValueGet, NetworkOutputOverrideValueSet, NetworkOutputOverrideValueGet, NetworkOutputSentValueGet functions added.
  • Update IO rework. Support for multi-bit Digital PDO Entries.
  • Update Axis default velocity, acceleration and deceleration set to 1.0

7.3.4 2018-01-09

  • New RSIActionTRIGGERED_MODIFY and associated functions added.
  • New Triggered Modify support for Master Based Homing (HomeBehaviorGet/Set).
  • New motorStatusGet Added to RMPNetworkAPI.
  • Update RapidSetup C# improvements.

7.3.3 2017-12-14

  • New DS402 Drive based Homing Control added to RapidSetup.
  • New Backlash Compensation added for Position Mode.
  • New MotionController.MemoryToFile function added.
  • Fix EStopModify no longer causes out of frames EStop in firmware 918A5
  • Fix MultiAxis Streaming Outputs fixed.

7.3.2 2017-11-21

  • New NewtorkOutputOverride Get/Set added. RapidSetup Network I/O checkbox added.
  • New RSIVersionMajor(), RSIVersionMinor(), RSIVersionMicro() added.
  • New NetworkNode ProductNameGet and VendorNameGet added.
  • Update RapidSetup tuning visibility.
  • Update IOPoint objects are now deleted when the MotionController is deleted.

7.3.1 2017-10-27

  • New SMC EX260 EtherCAT module support.
  • Fix MotionScope, VM3, DumpDiff, RapidWorkbench fixes.

7.3.0 2017-10-25

  • New RSIQVC64 and RSIQDNET64 added for 64-bit support.
  • New SDO Writes support for Axis Configuration xmls.
  • New Added RSIVersionMajor(), RSIVersionMinor(), RSIVersionMicro() to RapidCodeObject.
  • Update RMP and MPI upgraded to 918A4 and 04.04.02.
  • Update Improved Copy/Paste inside RapidSetup.

7.2.6 2017-10-02

  • New Keyence NU-EC1 support.
  • Update RapidWorkbench for AKD - improvements when switching axes.
  • Update Service channel SDO read execution time reduced.
  • Fix Streaming Outputs only worked for 1 axis.

7.2.5 2017-09-20

  • New Copley TE2 Stepnet Plus drive support.
  • New CTB drive support.
  • New MultiAxis node support.
  • Update MotorDemandMode Get/Set/Enum replaced with OperationMode Get/Set/Enum and supported with EtherCAT.

7.2.4 2017-09-16

  • Fix Post Trajectory Gearing fixed.

7.2.3 2017-09-14

  • New Schneider LXM28E EtherCAT drive support.
  • New Additional Elmo & Schneider Error Messages supported.
  • Fix Network process shutdown improvements.

7.2.2 2017-08-29

  • Update ProcessorUsage info adjustments in RapidSetup.
  • Update MotionScope easier to access in RapidSetup.
  • Fix StatusBitGet fixes for MultiAxis objects.

7.2.1 2017-08-21

  • New Estun ProNet EtherCAT drive support.
  • New Home Stage settings saved to/from Axis XML.
  • Update RMP and RMPNetwork thread synchronization improvements.
  • Fix Axis XML no longer fails with ambiguous method exception.

7.2.0 2017-08-03

  • New Elmo EtherCAT drives support.
  • New Beckhoff EL7041 steppers support.
  • New NetworkTiming Feature in RapidSetup.
  • Update SynqNet deprecated.
  • Update AddEntry to PDOs without RemoveContent.
  • Update Axis numbers to Homing Logging.
  • Update Synchronization diagnostics and filterDepth improvements.
  • Update RTOS Start/Stop.
  • Update Improved IO identification in EtherCATNodeInfo.xml.
  • Update RapidENI error on modify a fixed PDO.
  • Fix AdjustTimer improved for Skylake processors.

7.1.2 2017-06-02

  • New Added RSIHomeStageSTAGE_FOUR. Covers motion to Zero after HomeOffsetSet has been used.
  • New Added support for Copley's XEC-230-12 drive.
  • New Added TraceFileClose. The ability to Close a file that was open for logging.
  • Fix Fixed an issue with vendor and product ids above the max int size.

7.1.1 2017-05-22

  • Update Added some additional Homing logging.
  • Fix Fixed an issue where some systems would report different identifiers when running with reduced privileges.

7.1.0 2017-05-15

  • New RapidCode no longer requires Windows Administrator privileges
  • New Improved SourceNameGet to include more information about RMP Amp Faults for most drives.
  • New Yaskawa EtherCAT Torque/Velocity Mode support.
  • New Added support for Applied Motion Products SS EtherCAT drive.
  • New Added support for Panasonic MMDHT2C09BD1 EtherCAT drive.
  • New RSIMotorDedicatedInWARNING now supported for EtherCAT AKDs.
  • New Homing Moves during RSIHomeStage_TWO & RSIHomeStage_THREE now have their own velocity, accel, decel, and jerk values which can be set independent of RSIHomeStage_ONE
  • New Homing Logging Added. Use Axis.TraceMaskOnSet(RSITraceCUSTOM) & Axis.TraceFileSet(fileName) to use.
  • New TraceInjectMessage(RSITrace traceLevel, msg) to add your own messages to the output log.
  • Update Improved Beckhoff EJ3004, EL1259, EL3064, & EL3356 Implementations.
  • Update Made changes to pNetwork values saved by an EtherCAT AKD.
  • Update Region locking for PDO read/write data.
  • Fix Custom Home configuration initialized properly.

7.0.16 2017-03-23

  • New EtherCAT Teco Drive now supported.
  • New Added Ability to add non-standard PDOEntries to PDO sets.
  • New RapidCode/RapidSetup expanded to support 32 General Inputs/Outputs.
  • Update EtherCAT AKDs now use the standard Control Word Functions for Enabling and Clearing Faults.
  • Update rsiConfig.exe probes network and supports new node types.
  • Update Improved Analog IOPoint implementation.
  • Fix Skylake Processors should now work as expected with the RMP.
  • Fix Fixed an issue when using RMPNetwork without an ENI file.

7.0.15 2017-03-03

  • Update Suppress 2-bit PDO inputs/output error messages

7.0.14 2017-03-02

  • Update MotionController object count methods reconfigure dynamic memory allocation only when necessary
  • Update Home limit action no longer reverting to Stop action when RapidSetup opens

7.0.13 2017-02-27

  • New Position mode post-trajectory electronic gearing for RMP
  • New Can Start, Stop and Restart INtime from within RapidSetup and RapidCode.
  • New Additional Beckhoff EJs supported.
  • Update PositionSet() no longer sets Actual Position for EtherCAT Axes
  • Update Controller::UserVersionSet() can now be safely called outside of Initialization.
  • Update Controller::SyncInterruptEnableSet(false) can now be safely called outside of Application Teardown.
  • Fix DS402 position demand scaled from RMP 64-bit double to 32-bit

7.0.12 2017-02-09

  • New Additional Axis Memory locations available via AddressGet(RSIAxisAddressType).

7.0.11 2017-01-31

  • Update EtherCAT node clear faults timeout increased to 32 samples
  • Update Axis will Amp Fault if an RMP Node fails to reach Operation Enable after 1000 cycles after calling AmpEnableSet(true)
  • Fix Dedicated I/O processing for DS402 drives

7.0.10 2017-01-25

  • New RapidCode API to set outputs during streaming motion
  • New axisFeedRateSet, axisFeedRateGet, and axisFeedRateDisable added to RMPNetworkAPI
  • New Motion ElementID works with streaming and path motion, now displayed in RapidSetup
  • Update AKD ASCII command speeds optimized, Autotuning now available using RapidWorkbench
  • Fix Fixed an issue with GetRtSystemTimerValues.

7.0.9 2017-01-13

  • New Added Diagnostic methods for Delta Robot
  • New EtherCAT network clock adjustments updated for Intel Skylake processors
  • New Bonfiglioli drive support
  • Fix Improved access to RSI license file

7.0.8 2017-01-04

  • Update Homing Method None (Current Position) is now selected by default in RapidSetup.
  • Fix Fixed an issue which caused an error in RapidSetup when you minimized RapidSetup mid-Homing.
  • Update Added a custom DeltaRobot feature.

7.0.7 2016-12-22

  • Update Homing now Advances to Stage Three for Index only Homing Max Travels.

7.0.6 2016-12-21

  • Update RSI_AXIS_HOME_FAILED_TO_REACH_MAX_TRAVEL reported when homing fails to reach it while looking for edge.
  • Update Homing Error Enumeration and Messages Changed.

7.0.5 2016-12-19

  • Update 11 previously dynamic Homing Error Messages have been enumerated.
  • Fix Fixed an issue where HomeStage wouldn't advance with active low Homing Limits.
  • Fix Homing now Restores Initial Home Action and Trigger State on Errors.

7.0.4 2016-12-16

  • Update The Default Home Offset is now set to 0 rather than -1
  • Update EtherCAT AKDs now use Homing Defaults rather than Motion defaults to move to the zero-angle when homing
  • Update Home Stages now supports Active Low Homing Implementation
  • Update Delta Functions now return Success Status.

7.0.3 2016-12-15

  • New Added StopOnErrorSet() to DeltaRobot to enable/disable throwing exceptions near singularities
  • New Added UnmapDelta
  • Update Changed the locations in the Homing process when we advanced Homing Stages

7.0.2 2016-12-13

  • New Velocity Mode support for EtherCAT Nodes
  • New MovePT now supports Spline, Bessel, and BSpline2 options
  • Update Adjusted Names and PDOs for Schneider EtherCAT Nodes
  • Update Added additional error messages for failed Homing cases
  • Update Improved DumpDiff.
  • Fix Fixed a matching issue with RMP Inputs/Outputs
  • Fix Fixed an issue where HomingStage wasn't advancing when it should
  • Fix Fixed an issue with the Homing Process when Abort was called at just the wrong time

7.0.1 2016-12-02

  • Fix Fixed an issue where we were linking to the wrong sqNodeLib.lib file

7.0.0 2016-11-23

  • New 64-bit RapidCode libraries for SynqNet 04.04.02
  • Update All host addresses are stored as type uint64 for 32-bit and 64-bit libraries
  • Update MotionCamMasterStartSet requires master Axis object to scale startPostion with UserUnits
  • Fix EtherCAT Axis ClearFaults() now waits for Fault bit to be cleared before returning
  • Fix Axis::MotionCamMasterStartSet now properly scaled by Origin position
  • Fix AmpEnableSet(true) now works in STOPPED state
  • Fix MultiAxis SYNC_START and SYNC_END attributes

6.5.1 2016-11-16

  • New Delta Robot Kinematics

6.5.0 2016-11-16

  • New Axis::MoveCamCubic
  • Fix Axis::MotionCamMasterStartSet

6.4.6 2016-11-14

  • Update Upgrade to INtime 6.2
  • Update Changed the Default max speed for the Panasonic Drive from 120 RPM to 20000 RPM

6.4.5 2016-10-31

  • New Added new banner option for customer RapidSetup skin
  • New OptoForce Sensor added.
  • New Added HomeTravelDistanceSet & HomeStageGet allowing for Max Travels to Homing Segments.
  • Update Adjusted Beckhoff's EL2521 Default Configuration
  • Update LimitDurationGet no longer calls HomeUserLimitConfigSet
  • Update Improved setting values from Textboxes when hitting Enter or Esc.
  • Fix MultiAxis Delete Improved.
  • Fix Fixed an issue with EL2521s which caused a problem on Network Restarts.
  • Fix New Synqnet Firmware ....916A6.bin built which corrects for an issue where NEAR_TARGET triggered incorrectly

6.4.4 2016-10-04

  • Update Improved Drive Status message display when a Node was in an Error State.
  • Fix Fixed an issue with AmpEnableSet.

6.4.3 2016-09-16

  • Fix SqNode name deletion was causing error when closing RapidSetup

6.4.2 2016-09-01

  • New InitCmds are now Configurable from EtherCATNodeInfo.xml.
  • New DcDataOpMode is now Configurable from EtherCATNodeInfo.xml.
  • New PDO String Matching is now Configurable from EtherCATNodeInfo.xml.
  • Update Unknown EtherCAT Nodes will now load the SDO screen when clicked on.
  • Fix Fixed an issue using the Service Channel after you issue a string command.
  • Fix Fixed an issue with node identification for large networks.

6.4.1 2016-08-01

  • New MailBox PollTime is now Configurable from EtherCATNodeInfo.xml.
  • Update Updated RapidSetup Documentation Link.
  • Update Improved RapidSetup's TreeView.
  • Fix Fixed an issue with Stopping and Restarting RMPNetwork from RapidSetup.

6.4.0 2016-07-22

  • New RapidWorkbench for AKD added.
  • New CompensatorTableClear function added.
  • New RMP Status window added. You can now see DS402 standard interpretations in the bottom right of the axis screen.
  • Update API Behavior Change - Controller is now a Singleton, reducing chance of Invalidating objects when programming.
  • Update VPLkp.xml renamed to EtherCATNodeInfo.xml.
  • Update Standardized PDO names. Most applications should generate new ENI files using RapidSetup to match new pattern.
  • Update Improved RapidSetup MultiAxis support.
  • [General Changed] Increased maximum number of EtherCAT Input/Output PDOs from 255 to 1024. Added a useful Error Message when past max.
  • Fix No longer crash attempting to use a Controller object that was invalid due errors in creation.
  • Fix RapidSetup XBox controller library updated.
  • Fix Axis PostFilter XML serialization now removes extra postfilers when loading from a smaller postfiler source (xml).
  • Fix Corrected an issue when hitting Enter or Tabbing out of the User Units entry box.
  • Fix Added dll needed for the BodeTool.

6.3.6 2016-06-14

  • New RapidENI API (.NET) to automatically generate ENI file from discovered network
  • Fix Resolved AKD Enable Position Enable Offset
  • Fix Resolved AKD fault text display

6.3.5 2016-06-03

  • New Schneider LXM28E EtherCAT drive support added.
  • New KBus support added to RapidENI.
  • Update Improved RMP Clear Faults Timing
  • Update You can now create EtherCAT IO nodes even if they don't have traditional Digital/Analog Inputs/Outputs associated with them

6.3.4 2016-05-17

  • Update FeedbackDeltaPointerGet() and FeedbackDeltaPointerSet are deprecated. Please use FeedbackPointerGet() and FeedbackPointerSet instead.
  • Update Improved Gantry CS Project and included Cpp version.
  • Fix Longer Ascii commands are now supported

6.3.3 2016-05-11

  • New MotionController memory methods to read/set double values
  • New Data Recorder bulk read methods
  • New AxisAddressTypeFILTER_SMOOTHED_VELOCITY
  • New Yaskawa SGD7S support added
  • Fix Improved AKD Clear Faults Capability
  • Fix Fixed a Bug with Loading from XML that would cause trouble with Torque Systems.

6.3.2 2016-04-20

  • New Direct Velocity Control of AKDs added.

6.3.1 2016-04-18

  • Update Removed assemblies SynqNetSystem4.dll, RapidENILib.dll and RapidSetupControls.dll. The controls in these assemblies are now located in RSI.System.dll
  • New Rsiconfig.exe now supports RMP.
  • Fix Corrected a timing issue which could cause instability for Kollmorgen and AMC systems.

6.3.0 2016-03-28

  • New RapidSetup will now auto select an RMP when it is appropriate to do so.
  • New BodeTool included for use with the RMP on drives with Torque Mode support.
  • New XML Configurations Axis file names are now saved to and loaded from rsi.ini.
  • Update RMP is now built for INtime 6. Please make sure you upgrade your INtime Version to 6.1.15345.1 or later.
  • Update Improved the Menu options for SynqNet & RMP to exclude non-useful options.
  • Update Index (zero-angle) based homing routines now available for AKD drives.
  • Fix Large node counts causes RapidSetup to become sluggish when updating the SqNode Packet Error Counts.

6.2.31 2016-02-16

  • New Methods to get estimated SynqNet cable lengths
  • Update Changed the display name on several drives
  • Update Included many new EtherCAT ESI with our release.
  • Update Improved Missing Vendor/Product/Revision Display information when you are missing an ESI file.

6.2.30 2016-02-01

  • Update Updated AMC ESI to include Vendor's latest.
  • Update Removed unnecessary release files.

6.2.29 2016-01-29

  • Update Regenerate your Topology (ENI) files in order for IO to index properly! Switched from 1 Ordinate Module to 0 Ordinate Module for RapidENI support. Search Terms: IO on wrong Node.
  • Update Modify UI for Controller Configuration on EtherCAT
  • New AMC Drive support for RapidENI
  • Fix SDO string write issue
  • Fix Phantom Axes not showing under correct node in RapidSetup treeview
  • Fix INtime exception after multiple network restarts

6.2.27 2016-01-06

  • New Support for SynqNet 04.03.16
  • New RapidENI Utility to auto-generate ENI file from discovered network topology integrated with RapidSetup

6.2.26 2015-12-11

  • New RapidSetup can automatically detect configuration and generate an ENI file for many configurations.
  • Fix Fixed a bug which could cause errors if an EL2521 wasn't setup as intended.
  • Fix Data Recorder object interrupts not working with EtherCAT.

6.2.25 2015-11-11

  • Update Internal Release

6.2.24 2015-10-31

  • New Delta ASDA-A2-E (EtherCAT) Drives now supported by the RMP.
  • New Crevis I/O now supported by the RMP.
  • Fix Bad ENI files could crash INtime. Added Config Validation.
  • Fix MotionController::RecorderConfigureToTriggerOnMotion not triggering on motion start

6.2.23 2015-10-19

  • Update Improvements to EtherCAT SDOs. Better messaging and RapidSetup sign support.
  • Update Improvements to DS402 state transitions to Operation Enable.
  • New 1D and 2D Compensation table support
  • Fix EncoderRatio for EtherCAT, EncoderCountGet/Set

6.2.22 2015-10-06

  • Update Added support for Vendor ID 0x2e1 for FlexiPro Drives.

6.2.21 2015-09-24

  • Update Added DOUT1 and DOUT2 support to the AKD EtherCAT Drive
  • Fix MulitAxis::AxisGet returns an axis with an invalid NetworkNode object

6.2.20 2015-09-18

  • Update RapidSetup requires .NET Framework 4.0
  • New RapidENI utility to auto-generate ENI file from discovered network topology
  • New Torque Mode support for the Panasonic EtherCAT drive
  • Fix MultiAxis::ClearFaults for EtherCAT

6.2.19 2015-07-29

  • New Interfaces added for all RapidCode .NET classes. (IMotionController, IAxis, etc.)
  • Fix Fixed a Bug with the RSIQDNET4 dll that prevented the use of CreateFromSoftware(rtaPath).

6.2.18 2015-07-09

  • New Automatically download RMP licenses.
  • Update Restored Multiaxis Delay functionality.

6.2.17 2015-06-23

  • New Added Dedicated Homing, Positive, and Negative Limit support to the Panasonic MinasA5 EtherCAT Drives

6.2.16 2015-06-03

  • New .NET overload for CreateFromSoftware() to specify working folder (path to RMP.rta)
  • New Added support for Beckhoff BK1150 series IO Modules to the RMP.
  • New Added support for ESD ECX-DIO8 IO Modules to the RMP.
  • Fix Adjusted Kollmorgen AKD Parameters REGEN.TYPE & REGEN.WATTEXT to ensure proper setting from RapidCode and RapidSetup.
  • Fix Fixed (Object reference not set to an instance of an object. Boolean LockTake()) error Spam with Early Versions of .Net 2.0

6.2.15 2015-05-27

  • Update Cleaned up the Homing Screen for RMP Releases.
  • New Support for EtherCAT nodes with 64-bit DC

6.2.14 2015-05-14

  • New Torque Mode support for the AMC EtherCAT drive.
  • Update The Tuning Box should no longer display when inappropriate.
  • Fix RapidSetup exception when setting UserVersion
  • Fix Fixed a validator that prevented the use of high indexes for SDO Control

6.2.13

  • New RapidCode now supports most Post Filters.
  • New Supported added for Panasonic MinasA5 series EtherCAT drives.
  • Update FilterLowPassSet(double) is deprecated. Please use PostFilterLowPassSet(int, double) instead where int is the Post Filter number.
  • Fix Fixed a bug where RapidSetup would load bad PostFilter values from a corrupted XML file.
  • Fix Fixed a bug with SampleRateSet which caused an Access Violation Exception.

6.2.12

  • Update NetworkNode::HasIO() always returns true for EtherCAT nodes
  • New MFC Runtime DLL included in release for RMP MotionScope
  • Fix Fixed errors trying to use axis after re-initializing EtherCat network
  • Fix Fixed the Incorrect display of Controller I/O for the RMP

6.2.11 2015-03-12

  • Update Axis and MultiAxis Motion ID methods use uint16 data type
  • Update RapidSetup dependencies included in RapidSetup.exe.

6.2.10 2015-03-03

  • New ServiceChannelRead/Write overload for string values
  • New AMC Digital Input support for General and Dedicated IO

6.2.9 2015-02-19

  • Fix Corrected EL1088/EL1008 Labels

6.2.8 2015-02-19

  • New Support for Beckhoff EL1088 Digital Input Modules

6.2.7 2015-02-16

  • New Support for Beckhoff 2521 Step Pulse Train

6.2.6 2015-02-06

  • Update Classify EtherCAT nodes using Vendor ID and Product Code

6.2.5 2014-12-09

  • New HomeLimitCustomConfigSet method added to enable homing from any input bit on the network
  • New RMPNetwork supports some Realtek and Broadcom gigabit NICs
  • Fix RMP NetworkInput (and Output) names now stored in RapidCodeNetwork

6.2.4 2014-11-14

  • Update RapidCode for RMP requires Administrator privileges
  • New New Methods to double check previous Home Set Methods.
  • New Axis::HomeMethodGet()
  • New Axis::HomeOffsetGet()
  • New Axis::HomeVelocityGet()
  • New Axis::HomeSlowVelocityGet()
  • New Axis::HomeAccelerationGet()
  • New Axis::HomeDecelerationGet()
  • New Axis::HomeJerkPercentGet()
  • New Axis::HomeCaptureTypeGet()
  • New Axis::HomeCaptureMotorFeedbackGet()

6.2.3 2014-10-21

  • New Support for SynqNet 04.03.11

6.2.2 2014-09-18

  • Fix RMPNetwork GPF after shutdown due to linker mismatch

6.2.1 2014-08-26

  • New RMP and RMPNetwork built for INtime 5.2.14045.2
  • Fix RMPNetwork rebooting when restarted due to uninitialized topology memory

6.2.0 2014-08-21

  • Update RSI::RapidCode::SynqNet namespace changed to RSI::RapidCode
  • Update RapidCode objects throw RsiError const& instead of RsiError* (C++ only)
  • Update RapidSetup only sets Home action to STOP for SynqNet when homing
  • Update MotionController object counts are refreshed automatically when the EtherCAT network reaches operational state
  • New RapidSetup can start network in PREOPERATIONAL state
  • New NetworkStartMode parameter for NetworkStart() overload
  • New NetworkLogMessageGet for reading NetworkStart() log messages
  • New RapidSetup shows network error messages if state transitions from OPERATIONAL
  • New Axis homing supports homing without Position Capture
  • Fix FeedRateSet throwing unexpected error

6.1.23 2014-06-03

  • New NetworkNode supports ServiceChannel (SDO) and ASCII commands
  • New MotionController::CreateFromSoftware() has optional working directory parameter
  • Update UserLimitOutSet now works with andMask & orMask. An overload for valueSet has been added to preserve old behavior.

6.1.22 2014-05-14

  • Update Axis::FeedbackDeltaPointerGet now returns a host address
  • New NetworkNode Analog Input/Output support
  • New MechaWare PIV Gain Table and Reset blocks supported in RapidCode/Setup

6.1.21 2014-03-26

  • New Support for SynqNet 04.03.08
  • New PositionSet added to RapidSetup Axis Command Position
  • New MechaWare PID Gain Table Block supported in RapidCode/Setup
  • New Network IO methods for EtherCAT
  • New MotorType added as top-level element in Axis XML configuration
  • New MotionController::ProcessorUsageClear (double-click in RapidSetup to clear)
  • Update Selecting Stepper Loopback in RapidSetup disables Encoder Ratio control

6.1.20 2014-01-09

  • New SynqNetInit() added to .NET libraries

6.1.19 2013-12-05

  • New MotionController::NetworkTypeGet method
  • New NetworkStart, Shutdown methods added for EtherCAT
  • New IOPoint analog values accessible in .NET libraries
  • Fix Capture objects not enabled properly with greater than 16 axes
  • Fix IOPoint analog values now function correctly

6.1.18 2013-10-31

  • New RapidSetup AKD SynqNet firmware download
  • New Kollmorgen AKD SynqNet drive monitor support
  • Fix RapidSetup file download GUI hangs

6.1.17 2013-09-27

  • New SynqNet 04.03.05 support with AKD firmware 1.10 for smoother amp enable

6.1.16 2013-07-23

  • Update RsiError inherits from std::exception
  • Update RSIMotionAttrMask values changed
  • Fix APPEND motion attribute mask not working

6.1.15 2013-06-26

  • New rsiconfig.exe command-line utility for reading/writing configurations
  • Fix Serialized/XML Axis not disposing of its resources properly

6.1.14 2013-06-24

  • New RapidSetup Axis Origin shown if Actual Position label is clicked
  • Fix Phantom axes displayed under Node 1 in RapidSetup

6.1.13 2013-06-14

  • Fix Additional thread-safe locking added to InterruptMaskSet()

6.1.12 2013-06-11

  • New RapidSetup Axis tab page remembered when switching
  • Fix RapidSetup not restarted after setting Axis or Motion count

6.1.11 2013-06-06

  • New NetworkStateGet, Shutdown method for SynqNet or EtherCAT
  • New RapidCodeNetworkNode object
  • New EtherCAT node topology discovery
  • New RapidSetup displays network counter
  • Fix MotionController software and firmware version info out of scope
  • Fix RapidSetup Axis screen display precision not updating after downloading from XML
  • Fix RapidSetup Diagnostics screen displaying multiple instances
  • Update RapidSetup replication copies label xml and ini files when creating replication
  • Update RapidSetup replication restore option removed

6.1.10 2013-04-26

  • New RapidSetup diagnostic screen
  • New Network diagnostic methods work for SynqNet and EtherCAT - NetworkNodeCountGet(), etc.
  • New New Trace types CUSTOM and TIME
  • New MultAxis AxesAdd method to add multiple Axis objects at once
  • Update Axis UserUnits removed from RapidSetup INI file
  • Fix Additional thread-safe locking to MultiAxis AxisAdd, AxesAdd, AxisRemoveAll methods
  • Fix MultiAxisGet does not report an error when passed an invalid motionNumber.
  • Fix MotionController::InterruptWake() not waking MotionController::InterruptWait()

6.1.9 2013-03-18

  • New Support for QMP-PCIe
  • Fix Additional thread-safe locking added to StateGet() and all Move methods

6.1.8 2013-03-01

  • Update MSVC++ 2005 Redistributable updated to 8.0.50727.6195 and MSVC++ 2010 Redistributable added
  • Update CapturePositionGet now scaled by encoder ratio when relevant
  • New EncoderRatioPrimary/SecondaryGet/Set with strings for use with Axis XML
  • Fix CaptureConfigSet ignoring PRIMARY vs SECONDARY feedback parameter

6.1.7 2013-02-22

  • New Axis/MultiAxis MotionHoldGateNumberGet/Set and MotionController MotionHoldGateSet

6.1.6 2013-02-19

  • Fix Motion Hold Gate logic inverted
  • Fix AxisCountSet should never decrease MotionCount
  • New Support for SynqNet 04.03 releases

6.1.5 2013-01-11

  • Update Axis::CommandPositionSet() reverts to SynqNet 3 behavior (uses Origin internally)
  • New Axis::CommandPositionDirectSet() enables direct setting of command position
  • Fix Vector Velocity and Acceleration not updating between Path segments

6.1.4 2013-01-03

  • New Raw CapturePosition in RapidSetup (not scaled by Origin or UserUnits)
  • New SynqNetSystem DLL for .NET 4.0
  • Update 32-bit float values now 64-bit double precision. Tolerances, durations, feedrates, Stop times, etc.
  • Update read-only Axis XML files are allowed
  • Fix MultiAxis motions now use absolute value of velocities, accelerations, etc. if UserUnits are negative

6.1.3 2012-11-07

  • Update Axis PositionSet uses CommandOriginSet and AmpEnableSet uses CommandPositionSet
  • Update Stepper motor Axis can only use PositionSet when amp is enabled
  • Fix Axis XML file stream not closed
  • Fix Axis XML now ignores SqNodeUserFaultAddress,MotionHoldUserAddress, and OriginPosition
  • Fix Axis XML now deletes temporary drive parameter file
  • Fix Axis XML restores ThrowExceptions to default (true) when saving to / restoring from XML
  • Fix Axis SourceGet now reports NODE_FAILURE correctly when any Node has failed

6.1.2 2012-10-25

  • Update Updates for SynqNet 4.2 Production Release

6.1.1 2012-10-02

  • New Fastech stepper drive support and automatic setup
  • New Stepper motor pulse configuration methods
  • Update Axis::PositionSet now works with stepper motors
  • Update Axis::PositionSet COMMAND_NOT_SET now treated as error, not warning

6.1.0 2012-09-05

  • New QMP motion controller and SynqNet 4.2 support
  • New S-curve path planning type
  • Update Standard data types modified for future 64-bit support
  • Update BEFORE_SYNQNET_0402 preprocessor definition required if using SynqNet 4.0 or 4.1
  • Update MotionController Reset() now deletes the control handle before resetting
  • Update Stop() no longer throws exception if already stopped or stopping
  • Update Homing methods 23, 25, 27 and 29 modified for consistent capture direction
  • Fix RapidSetup velocity goto labels not updating
  • Fix RapidSetup homing using status caching, causing capture errors

6.0.12 2012-08-14

  • Fix Axis SourceGet() correctly reports HOME (Capture Status) source
  • Fix Homing move-to-zero feature now works without going to STOPPING or STOPPED state
  • New Homing now supports S-Curve velocity profiles
  • New RapidSetup implements more data caching for better performance
  • Update Homing now defaults to time-based position capture

6.0.11 2012-07-25

  • Fix Axis default velocity no longer checked in MoveVelocity()
  • Fix Axis GearingEnable() now sets axis/motor number properly when using FEEDBACK sources
  • Fix Axis GearingMasterAxisNumberGet() and GearingSourceGet() now read current values from the controller
  • Update RapidSetup stores SynqNet folder info for CurrentUser, not LocalMachine
  • Update RapidSetup no longer requires Administrator privileges

6.0.10 2012-07-02

  • New UserLimitStatus added to ControllerAdddressType
  • Fix RapidSetup relative motion goto positions not updating

6.0.9 2012-05-25

  • New LimitEnabledMask added to ControllerAdddressType

6.0.8 2012-05-23

  • New Simulation server and RMP controller support
  • Fix RapidSetup Position Capture supports 64 axes

6.0.7 2012-04-02

  • New SyncInterrupt for .NET

6.0.6 2012-02-27

  • New RapidSetup now supports editing of PID values in MechaWare models
  • Fix EMPTY_COUNT attribute now supported for PT and PVT motion types

6.0.5 2012-02-07

  • New RSIQDNET and RSIQDNET4 signed with a strong name

6.0.4 2012-01-18

  • Update MultiAxisGet() now requires MotionSupervisorNumber parameter, must be >= Axis count
  • Update MultiAxis::AxisRemove removed, use AxisRemoveAll instead
  • Update RSI Constants displayed as hexadecimal to eliminate C++ compiler warnings
  • New MotionCount configuration added to RapidSetup
  • New UserLimitCountGet/Set added to MotionController
  • New Kollmorgen AKD support

6.0.3 2011-12-16

  • Fix RapidSetup AutoTuner now works with UserUnits
  • Fix MotionControllerDigitalIn MaskGet() now works for E-Stop input (bit 6)
  • Fix Negative values now allowed for Axis UserUnits

6.0.2 2011-10-24

  • New Axis Capture configuration supports drive general purpose I/O
  • New MotionController AddressGet() now supports multiple data recorders
  • Update Axis Capture configuration global parameter removed

6.0.1 2011-09-15

  • New IO position capture supported for HSIN32
  • New Axis XML files from RapidCode 4.x supported
  • Update Setting an Axis to Phantom type no longer disables limits automatically
  • Fix MotionController FlashClear() now saves cleared flash

6.0.0 2011-8-03

  • New Datatypes redefined for future 64-bit OS support (long becomes int32, etc.)
  • New S200 filtered drive velocity now available for Drive Monitor
  • New HomeCaptureMotorFeedbackSet added for an Axis that uses secondary feedback
  • New RapidSetup supports backlash compensation
  • New RapidSetup supports EncoderRatio
  • New RapidSetup has better support for European Windows regional settings
  • New RapidCodeObject interface added for .NET classes ease-of-use
  • Update 03.03.xx SynqNet releases no longer supported
  • Fix Axis CapturePositionGet() only uses UserUnits if the feedbackAxisNumber is the same as the Axis number
  • Fix RapidSetup now supports 24A and 48A S200 drives
  • Fix Xbox 360 controller right thumbstick processing reversed in RapidSetup
  • Fix Xbox 360 controller trigger invert not applied in RapidSetup
  • Fix RapidCode works with MechaWare firmware (4.0)
  • Fix Axis UserLabel is properly updated from XML in RapidSetup
  • Update RadidSetup homing automatically sets Home action to STOP
  • Update CaptureArm now waits for capture to arm before returning. Overload makes it optional.
  • Update Xbox 360 controller uses cubic function for velocity control
  • Update Xbox 360 controller will Abort all when disconnected in RapidSetup
  • Update RapidSetup goes to FPGA download page if Node MAC mismatch
  • Update MemoryBlockGet/Set now uses arrays for .NET instead of pointers
  • Update Axis XML files now support SqNode properties

4.1.25 2009-4-22

  • New Gain Scheduling support added to RapidSetup
  • New Final Velocity motion overloads added to Axis

4.1.24 2009-3-27

  • Update Improved support when using MechaWare firmware

4.1.23 2009-3-19

  • New Axis::GearingSourceGet() added

4.1.22 2009-2-12

  • New InterruptMask methods allow for generating specific interrupts
  • New MultiAxis::MoveVectorRelative
  • New Axis and MultiAxis MotionIdExecutingGet() returns currently executing MotionID
  • Update Axis::SaveToFlash will now attempt to save SynqNet Topology first
  • Fix RapidSetup File->Exit fixed (introduced in 4.1.21)
  • Fix IOPoint::MaskGet() not working for Axis Digital Inputs and Outputs
  • Fix Axis::SourceGet() won't report SQNODE_USER_FAULT without I/O Abort set

4.1.21 2008-12-02

  • New RapidCode IOPoint class added, provides common interface to any SynqNet I/O point
  • New RapidSetup can copy Axis settings from another Axis
  • New RapidSetup Axis Save-To-Flash moved to context menu (right click)
  • New MotionController::SynqNetHotReplaceRestart for using HotReplace
  • Fix RapidSetup now compatible with MechaWare firmware
  • Fix Axis::AmpEnableSet(true) fails if filter algorithm is set to NONE
  • Fix RapidSetup no longer shows warnings when viewing online documentation
  • Fix RapidCode object locking initialization

4.1.20 2008-08-20

  • New MotionController::RecorderBufferSizeGet/Set helpful when using multiple recorders and high Axis counts
  • New MotionDoneWait() now optionally accepts timeoutMilliseconds parameter and returns waited time
  • New RapidSetup offers choice of Time or Position Capture for Homing
  • New Axis::HomeCaptureTypeSet()
  • New RsiError messages now include object number

4.1.19 2008-08-01

  • New MotionController::RecorderReset()
  • New RSIAxisAddressTypeDEDICATED_OUTPUTS and INPUTS
  • New RSIControllerAddressTypeUSER_BUFFER
  • New MultiAxis Motion Hold now supported
  • Fix Axis::MotionHoldPositionGet/Set should not be scaled by UserUnits

4.1.18 2008-07-25

  • New Axis::FilterDualLoopSet utilizes load and motor encoders for PIV dual loop control
  • New MotionController now supports up to 32 data Recorders
  • New RapidSetup new Axis tab for setting Actions and Limits
  • New RapidSetup now displays MotorTorque Drive Monitor for Yaskawa

4.1.17 2008-06-06

  • New Axis::Home(bool moveToZero) added, for optionally moving to Zero after homing (also in RapidSetup)
  • New MotionController:CommandAction for commanding an action with a Sequencer
  • Fix RapidSetup brake mode and settings not applied

4.1.16 2008-05-21

  • New MotionController:ExternalMemorySizeGet helps when resizing Axis frame buffers or Recorder buffer
  • New Axis::FramesToExecuteGet
  • Update Axis::MoveCamLinear and MoveCamCubic now use double arrays, instead of 32-bit integers

4.1.15 2008-04-30

  • New Axis::EncoderMultiTurnReset in RapidCode and RapidSetup
  • New MotionController::ProcessorUsageGet in RapidCode and RapidSetup – helps determine maximum sample rates

4.1.14 2008-04-14

  • New MultiAxis user interface added to RapidSetup (Absolute, Relative, Velocity, PT)
  • New Axis Filter Gain Scheduling – Axis can change gain tables automatically
  • New Axis::UserLimitReset(...) used to clear latched UserLimits
  • Fix PathTimeSliceSet did not set internal value

4.1.13 2008-02-26

  • New RapidSetup – Drive Monitor support

4.1.12 2008-01-31

  • New MotionController::RecorderBufferHighCountSet
  • New RapidSetup – Xbox 360 Controller support for jogging
  • New Axis::DefaultVelocityGet/Set
  • New Axis::DefaultAccelerationGet/Set
  • New Axis::DefaultDecelerationGet/Set
  • New Axis::DefaultJerkPercentGet/Set
  • New Enumerations added for 32bit LSB and MSB position recording for 64-bit positions
  • Fix MovePT and MovePVT did not use UserUnits correctly
  • Update MovePT and MovePVT now internally enable interrupts, so the library can stream points

4.1.11 2007-12-14

  • Fix MultiAxis::PathRatioSet did not set internal ratio values correctly

4.1.10 2007-11-28

  • New RapidSetup – Kollmorgen S300 supported in drive tab

4.1.9 2007-10-24

  • New Axis::GantryTypeGet and Set
  • New Axis::FeedbackDeltaPointerGet and Set
  • New Axis::EncoderCountGet and Set

4.1.5 2007-09-27

  • New Axis and MultiAxis MotionAttributeMaskOn/MaskOff(...) Get and Set methods added

4.1.4

  • New RapidSetup – Glentek - Added capability to read Proportional Current Gain and Integral Current Gain

4.1.3 2007-09-08

  • New Axis::EncoderRatioSet used to provide a ratio for raw encoder values (requires 03.04.xx SynqNet or newer)
  • Fix InterruptWake() no longer throws exception

4.1.2 2007-08-07

  • Fix Axis::Address get modified for differences between XMP and ZMP hardware

4.1.0 2007-07-23

  • New UserLabelGet/Set methods added to Axis, MotionController, SqNode
  • New MotionController::UserVersionGet/Set
  • New MotionController::SynqNetIdleCableNumberGet
  • New MotionController::RecorderConfigureToTriggerOnMotion
  • New MotionController::RecorderRecordDataRetrieve
  • New MotionController::RecorderRecordDataValueGet
  • New MotionController::Custom97VersionGet and other Custom97 methods
  • New Axis::ActualVelocityGet
  • New Axis::EncoderScaleGet/Set (SynqNet version 03.03.xx and older only)
  • New Axis::EncoderPointerGet/Set
  • New Axis::MotorDemandModeGet/Set
  • New Axis::MotorFaultMaskGet/Set
  • New Axis::StepperMotorLoopbackGet/Set
  • New Axis::MotionCamRepeatStop
  • New Axis::DriveParameterFileGet/Set
  • New MultiAxis::Map/Unmap
  • New RapidCodeSqNode::DriveParamRestore

4.0.3 2006-12-06

  • New RapidSetup – Version Management feature for automatic upgrades to latest SynqNet versions
  • Update RsiError class moved to RSI.RapidCode.dotNET namespace in .NET (C#) assembly DLL (also supports error log)
  • Update MultiAxis motion methods now require that individual axis positions, etc. are given in UserUnits
  • Fix Axis::AmpEnableSet() contained an uninitialized variable which could cause unintended motors to be enabled

4.0.2 2006-10-05

  • New RapidSetup – "Send to RSI" feature allows uploading of version and exception info to www.roboticsys.com
  • New RapidSetup – screen introduced for SqNode information and FPGA download
  • New RapidSetup – Version Utility added to MotionController form and Tools menu
  • Fix DriveFirmware version and download methods added to Axis class and RapidSetup
  • Fix PIV Support for FilterCoeffGet/Set methods restored
  • Update PathRatioSet(...) can now be used before PathListStart(...)

4.0.1 2006-08-02

  • New MultiAxis::FeedRateGet & MultiAxis::FeedRateSet added.
  • Fix RapidSetup – SqNode Flash Download button can't find default filename
  • Fix Settling Criteria values need absolute values when using negative user Units
  • Fix Velocity tolerance not scaled by User Unit
  • Update RapidSetup – set fixed point scaling on command, Actual, and Error positions when using User Units
  • Fix RapidSetup Set Digital Output State does set the output of the slice IO
  • Fix RapidSetup Node Error array past index with more than 6 nodes on a ring
  • Fix RapidSetup Glentek Omega tab fails to update Current Limit Trip Current and Trip Time under the Motor Safety Tab
  • Fix RapidSetup – Space Bar not causing Abort action in Axis screen
  • Fix RapidSetup – Enter key causes button press when setting filter gains

4.0.0 2006-06-19

  • Update Many methods changed to use enumeration values instead of longs
  • Update Axis and IO now contain SqNode class
  • Update RapidCode Objects Renamed
  • Update Objects are created and initialized from the MotionController Class

2.2.19 2006-04-11

  • New E-Stop, Modify action now supported – specify decel rate instead of decel time
  • New UserUnits added to RsiAxis and RapidSetup
  • New Segment info and I/O methods added to RsIO
  • New Resume method added to RsiMultiAxis
  • New TargetPositionGet() added to RsiAxis.

2.2.18 2006-03-06

  • New All 30+ Home Methods now supported in RsiAxis and RapidSetup
  • Fix RsiAxis::SaveToFlash was modified internally to execute about 3x faster (was ~50 seconds, now ~15 seconds)
  • Fix RapidSetup drive parameter list is now cleared when switching to another RsiAxis
  • Fix RsiAxis::Home didn't verify capture status in 2.2.17 before setting home state = true
  • New RsiAxis::SourceNameGet added to get text about error sources. Also added to RapidSetup below Axis State.
  • New DriveIndexGet added to RsiAxis to get drive index for multi-drive SqNodes.
  • New User Fault and Node Failure Action Get/Set methods added to RsiAxis
  • New Auto-tuning capability in RapidSetup

2.2.17 2006-01-30

  • Fix RsiController::FirmwareUpload did not need to create internal flash object
  • New RsiAxis::HomeStateGet/Set now reads/writes the home state to the controller's memory, though it cannot be saved to flash.
  • New Drive Fault and Drive Warning methods added to RsiAxis and RapidSetup
  • New MovePT(...) and MovePVT(...) added to RsiAxis
  • Fix SynqNetTopologySave/Clear not saving/clearing topology correctly in flash memory
  • New SqNode Packet Error and CRC Error status methods added
  • New HomeCancelSet() added to RsiAxis
  • New MemoryBlockGet/Set added to RsiController

2.2.16 2006-01-10

  • New RsiError members added: functionName, lineNumber and shortText
  • New Drive Monitor features added to RsiAxis
  • New RsiAxis Home methods can be cancelled with E-Stop or Abort
  • New SqNode I/O Abort configuration methods added to RapidCode

2.2.15 2005-12-15

  • Fix RapidSetup RsiAxis General Inputs state displayed incorrectly

2.2.14 2005-12-09

  • New RsiAxis::DirectionInvertGet/Set can invert the polarity of the filter output and the actual position
  • Update RsiController Digital I/O methods changed to accept bit number parameters instead of bit mask.

2.2.13 2005-11-18

  • New RSISynqNetCableStatus enumeration adds BUSY status.

2.2.12 2005-11-11

  • New SynqNetRecoveryModeGet/Set methods added to RsiController and RapidSetup
  • New SynqNetCableIdleStatusGet() method added to RsiController
  • New RapidSetup: RsiAxis Dedicated and General Purpose I/O now based on Node resources
  • Update RsiAxis::DigitalInGet/Set methods changed to accept bitNumber instead of bitMask. Use enum RSIMotorGeneralIo.

2.2.11 2005-10-28

  • New RapidCode DLL files contain RSI and MPI versions in File Properties
  • New RsiAxis::DriveParamGet/Set methods added
  • New RapidSetup now supports Drive Parameter for most SynqNet drives.
  • New RsiController::SequencerStateGet method added
  • Update JerkPercent parameter added to RsiController::CommandMoveVelocity method
  • Fix RapidSetup RsiIO Digital Out and Analog Out could be blocked by "Set" buttons
  • Update RapidSetup pressing SynqNet Network Initialize will now refresh the TreeView
  • Update SqNodeDriveParam methods no longer require driveIndex parameter.

2.2.10 2005-10-19

  • New Methods added for reading SqNode I/O addresses and masks in RsiAxis, RsiIO
  • New RsiController methods to get addresses from string and converting to firmware addresses
  • New Preliminary Sequencer support added to RsiController
  • New RapidSetup TreeView shows SynqNet Nodes with RsiAxis and RsiIO objects
  • Fix RapidSetup resizing causes problems with TreeView
  • Fix RapidSetup - RsiAxis Save to Flash button works intermittently (also moved beneath Amp Enable)

2.2.9 2005-10-05

  • Fix RsiAxis::SaveToFlash() fails if SqNode does not exist.
  • New Camming methods added to RsiAxis
  • New RsiAxis frame buffer size get/set methods added
  • New New RsiController::Interrupt methods added for processing all interrupts
  • Fix ZMP Controller I/O fixed as 3 Outputs and 4 Inputs. Updated in RapidSetup.
  • New PathPointAdd() and PathArcAdd() now support changing VectorVelocity and VectorAcceleration inside a PathList.
  • New RapidCode available as static library
  • Fix RsiAxis::MoveVelocitySCurve(...) causes "Invalid Parameter" error
  • Update RsiController::Interrupt methods renamed to SyncInterrupt methods

2.2.8 2005-08-18

  • Fix RSIMotorTypePHANTOM not working properly in RapidSetup. This is a useful feature for simulating an axis.
  • New Configuration for closed-loop stepper added to RsiAxis (custom firmware required)
  • Fix FirmwareDevelopmetIDGet() spelled incorrectly in RsiController. Changed to FirmwareDevelopmentIDGet().

2.2.7 2005-08-08

  • New SqNode ServiceCommand method added to RsiIO and RsiAxis classes in RapidCode
  • New RsiAxis Electronic Gearing master sources now include Primary and Secondary motor encoders

2.2.6 2005-07-18

  • New Low Pass Filter methods added to RsiAxis
  • Fix Analog Output values in RsiIO not working in RapidSetup
  • Fix Motor Outputs selected (for setting state) in RapidSetup easier to see
  • New SqNode Drive Parameter methods added to RsiIO and RsiAxis classes in RapidCode
  • New Display Primary and Secondary motor encoder feedback in RapidSetup

2.2.5 2005-06-08

  • New RsiIO interface in RapidSetup
  • New Data Recorder methods for RsiController class

2.2.4 2005-05-27

  • New Add methods to Get/Set up to 32 bits of Digital I/O in RsiIO

2.2.3 2005

  • Update Timeout (milliseconds) parameter added to InterruptWait in RsiAxis and RsiMulitAxis

2.2.2 2005

  • Fix RsiAxis::PositionSet sets incorrect value
  • Fix RapidSetup should only allow one RsiController to be initialized.

2.2.1 2005

  • Update NodeStatusBitGet() changed to SqNodeStatusBitGet()
  • New MoveVelocity() and MoveSCurve() methods for RsiMultiAxis
  • New InterruptWake methods for RsiController, RsiAxis, RsiMultiAxis

2.2.0 2005

  • Update AddAxis() changed to AxisAdd() in RsiMultiAxis
  • Update ErrorLogGet() will now return RsiError* instead of accepting it as a parameter
  • New RsiIO class interface

2.1.1963 2005

  • Fix RsiMultiAxis::MoveTrapezoidal requires unsafe code in C#
  • Fix RsiMultiAxis::MoveTrapezoidal throws error if in motion


Note
For information about older releases, please contact RSI.