Changelog

Latest features, improvements, and fixes.

10.7.1 Oct 27, 2025

• New Axis and MultiAxis MovePTF() and MovePVTF() for streaming feedforward values with motion.
• New Python - diagnostic utility for EtherCAT RX error counter monitoring.
• Update GCode - support for motion inside M-Code callbacks.
• Update GCode - callbacks can be registered for specific M-Codes, instead of handling all M-Codes each time.
• Update Linux - MotionController ServiceThread named "EventService" for easier identification.
• Fix rsiconfig - ENI generation improvements for MDP.xml and Safety.xml using specified working directory.
• Fix RapidSetupX - RTTaskManagers and RTTasks update correctly when changing servers.

10.7.0 Sep 3, 2025

• New Real-Time Tasks feature, RTTaskManager and RTTask API.
• New Linux - RMP and RMPNetwork firmware memory locking.
• New rsiconfig - MultiAxis XML file support for configuration and Axis mapping.
• New rsiconfig - support for partial XML settings files - specify only the settings to change.
• New CustomNodeInfo.xml overrides NodeInfo.xml if Settings IO blocks are added.
• New CustomNodeInfo.xml ZeroPropagationDelays option available in Settings.
• New RapidSetupX - Axis - move button tooltips and sourcename on stop.
• New RapidSetupX - system information diagnostics.
• New RapidCode - MultiAxis - MoveSCurve/MoveRelative overloads with finalVelocity.
• New RapidCode - RSIDataTypeBOOL for RTTask globals.
• Update RapidCode - AmpEnableSet() throws exceptions in restricted states.
• Update rmpnetwork - Optimize EtherCAT network shutdown performance.
• Update AMC FlexiPro ESI - removed PDO fixed bits.
• Update AMC drives - no longer read SDO 0x603F on AmpFault.
• Fix RapidCodeRemote - Network DiscoverAndStart and Start action use correct timeout values.

10.6.8 May 19, 2025

• New Delta ASDA-B3A drive support.
• New Synapticon SOMANET Integro drive support.
• New RapidCode - MotionController::CreationParametersGet().
• Update RapidCodeRemote - MotionControllerCreationParameters for Action.Create and Info.
• Update rapidserver - uses less RAM at idle and handles higher concurrency under load.
• Update RapidSetupX - improved polling.
• Update RapidSetupX - no longer drops connection on first ping failure.
• Fix Linux - ARM-only issue prevented synchronization for nodes with 64 bit clocks.
• Fix RapidCode - Axis HomeState supports 64 axes.
• Fix MotionController::Get() no longer requires rsi.lic in the executable path.
• Fix RapidSetupX - Axis - decimal places auto set based on UserUnits.
• Fix RapidSetupX - Axis - prevent move buttons from disabling.
• Fix RapidSetupX - Recorder - only read data when explicitly requested by the user.

10.6.7 Mar 13, 2025

• New RapidCode - Axis::PostTrajectoryGearingScaledOffsetGet().
• New RapidCode - Axis::DigitalInputs/OutputsGet(), Axis::DedicatedInputs/OutputsGet().
• New RapidCode.NET XML and Python documentation for improved IDE experience.
• New RapidCodeRemote - Axis Status general digital inputs and outputs.
• New RapidCodeRemote - Axis Config FeedRate.
• New RapidCodeRemote - Axis Action for OperationMode.
• New RapidSetupX - Axis feed rate and operation mode added.
• New RapidSetupX - navigation controller item axes-clear faults/enable right-click commands.
• New RMPNetwork - NetworkNode axis count set during discovery.
• Update RMPNetwork - simplified, expanded, and improved NetworkLogMessages.
• Update RapidCode - Axis::StatusBitsGet() improved execution speed.
• Update RapidENI - FSoE Automatic safety byte alignment when generating.
• Update Windows - RMP EtherCAT sample rates limited by INtime Kernel Clock Rate.
• Update rsiconfig - Linux - globalization-invariant mode for Docker compatibility.
• Update rapidserver - Linux - set WorkingDirectory to /rsi for rapidserver.service.
• Fix rapidserver - RecorderCount greater than 16 allowed.
• Fix RapidSetupX - MultiAxis data not updating.

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.