Represents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory parameters, homing, limit switch configuration, motor configuration, position capture, configuring filter (control law) parameters, electronic gearing and access to its NetworkNode. Get or create an Axis object using MotionController::AxisGet. More...

Functions

Motion
void	MoveTrapezoidal (double position, double vel, double accel, double decel)
	Point-to-point trapezoidal move.

void	MoveTrapezoidal (double position, double vel, double accel, double decel, double finalVel)
	Point-to-point trapezoidal move.

void	MoveTrapezoidal (double position)
	Point-to-point trapezoidal move.

void	MoveSCurve (double position, double vel, double accel, double decel, double jerkPct)
	Command a point-to-point S-Curve motion.

void	MoveSCurve (double position)

void	MoveSCurve (double position, double vel, double accel, double decel, double jerkPct, double finalVel)

void	MoveVelocity (double velocity)

void	MoveVelocity (double velocity, double accel)
	Command a constant velocity move (jog).

void	MoveVelocitySCurve (double velocity, double accel, double jerkPct)
	Command a constant velocity move (jog) with non-constant acceleration.

void	MoveRelative (double relativePosition, double vel, double accel, double decel, double jerkPct)
	Command a relative point-to-point S-Curve motion.

void	MoveRelative (double releativePosition)

void	MoveRelative (double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)


Positions and Trajectory Status
void	PositionSet (double position)
	Set the Command and Actual positions.

double	ActualPositionGet ()
	Get the current actual position.

void	ActualPositionSet (double position)
	Set the actual position.

double	CompensationPositionGet ()
	Get the compensator position.

void	CompensationPositionSet (double position)
	Set the compensator position.

double	TargetPositionGet ()
	Get the target position.

double	CommandPositionGet ()
	Get the current command position.

void	CommandPositionSet (double position)
	Sets the value of the command and actual positions of an axis.

void	CommandPositionDirectSet (double position)
	directly sets the value of the command position of an axis

double	OriginPositionGet ()
	Get the origin position.

void	OriginPositionSet (double position)
	Set the origin position.

double	PositionErrorGet ()
	Get the current position error.

double	CommandVelocityGet ()
	Get the current commanded velocity.

double	ActualVelocityGet ()
	Get the current actual velocity.

double	CommandAccelGet ()
	Get the current commanded acceleration.

double	CommandJerkGet ()
	Get the current commanded jerk value (custom firmware required).

double	EncoderPositionGet (RSIMotorFeedback encoder)
	Get the raw encoder position.

double	UserUnitsGet ()
	Get the number of counts per User Unit.

void	UserUnitsSet (double countsPerUserUnit)
	Sets the number of counts per User Unit.

double	UserUnitsToCounts (double userUnits)
	Convert from UserUnits to raw feedback counts.

double	CountsToUserUnits (double counts)
	Convert from raw feedback counts to UserUnits.

int32_t	FramesToExecuteGet ()


Homing
void	Home ()
	Execute the homing routine.

void	Home (bool moveToZero)

RSIHomeMethod	HomeMethodGet ()
	Get the method to be used for homing.

void	HomeMethodSet (RSIHomeMethod method)
	Set the method to be used for homing.

double	HomeOffsetGet ()
	Get the home offset.

void	HomeOffsetSet (double offset)
	Set the home offset.

double	HomeVelocityGet ()
	Get the home velocity.

double	HomeVelocityGet (RSIHomeStage homeStage)

void	HomeVelocitySet (double velocity)
	Set the home velocity.

void	HomeVelocitySet (RSIHomeStage homeStage, double velocity)

double	HomeSlowVelocityGet ()
	Get the slow home velocity.

void	HomeSlowVelocitySet (double velocity)
	Set the slow home velocity.

double	HomeAccelerationGet ()
	Get the deceleration used for homing.

double	HomeAccelerationGet (RSIHomeStage homeStage)

void	HomeAccelerationSet (double accel)
	Set the deceleration used for homing.

void	HomeAccelerationSet (RSIHomeStage homeStage, double accel)

double	HomeDecelerationGet ()
	Get the decleration to be used for homing when using the switch is not detected before the HomeTravelDistanceSet() has been reached.

double	HomeDecelerationGet (RSIHomeStage homeStage)

void	HomeDecelerationSet (double decel)
	Set the decleration to be used for homing when using the switch is not detected before the HomeTravelDistanceSet() has been reached.

void	HomeDecelerationSet (RSIHomeStage homeStage, double decel)

double	HomeJerkPercentGet ()
	Get the Jerk Percent used for homing.

double	HomeJerkPercentGet (RSIHomeStage homeStage)

void	HomeJerkPercentSet (double percent)
	Set the Jerk Percent used for homing.

void	HomeJerkPercentSet (RSIHomeStage homeStage, double percent)

void	HomeCancelSet (bool cancel)
	Cancel Homing.

bool	HomeStateGet ()
	Get the home state.

void	HomeStateSet (bool homed)
	Set the home state.

void	HomeLimitCustomConfigSet (uint64_t address, int32_t bitIndex)

void	HomeLimitCustomConfigReset ()
	Remove any custom home input configuration and reset to use the Axis' dedicated home input bit.

uint64_t	HomeLimitCustomConfigAddressGet ()
	Get the host address of the custom home input configuration.

int32_t	HomeLimitCustomConfigBitIndexGet ()

void	HomeTravelDistanceSet (RSIHomeStage stage, double distanceToTravel)
	Set the max travel used in a specific Homing Stage.

RSIHomeStage	HomeStageGet ()
	Get the current Homing Stage.

void	HomeBehaviorSet (RSIAction behavior)
	Set the Action used for Master based homing.

RSIAction	HomeBehaviorGet ()
	Get the Action used during Master based Homing.


State and Status
bool	FaultMaskBitGet (RSIMotorFaultMask bitMask)
	Unsupported Function. Likely to be removed in the future.

uint16_t	StatusWordGet ()
	Get the DS402 status word.


Dedicated I/O
bool	NegativeLimitGet ()
	Get the state of the Hardware Negative Limit input.

bool	PositiveLimitGet ()
	Get the state of the Hardware Positive Limit input.

bool	HomeLimitGet ()
	Get the current state of the Home limit.

bool	HomeSwitchGet ()
	Get the current state of the Home switch input.

bool	AmpFaultGet ()
	Get the current state of the Amp Fault input.

bool	AmpEnableGet ()
	Get the state of the Amp Enable Output.

bool	DedicatedInExists (RSIMotorDedicatedIn motorDedicatedInNumber)
	Determine if a particular Dedicated input bit exists for a motor.

bool	DedicatedOutExists (RSIMotorDedicatedOut motorDedicatedOutNumber)
	Determine if a particular Dedicated output bit exists for a motor.

bool	DedicatedInGet (RSIMotorDedicatedIn motorDedicatedInNumber)
	Read a digital input.

bool	DedicatedOutGet (RSIMotorDedicatedOut motorDedicatedOutNumber)
	Get the state of dedicated output bit.


User I/O
bool	DigitalInGet (RSIMotorGeneralIo motorGeneralIoNumber)
	Read a digital input.

bool	DigitalOutGet (RSIMotorGeneralIo motorGeneralIoNumber)
	Get the state of digital output bit.

void	DigitalOutSet (RSIMotorGeneralIo motorGeneralIoNumber, bool outValue)
	Set a digital output bit.

bool	DigitalIoExists (RSIMotorGeneralIo motorGeneralIoNumber)
	Determine if a particular General I/O bit exists for a motor.

const char *const	DigitalIoNameGet (RSIMotorGeneralIo motorGeneralIoNumber)
	Get the name of a Motor I/O bit.

RSIMotorIoTypeMask	DigitalIoValidTypesMaskGet (RSIMotorGeneralIo motorGeneralIoNumber)
	Get the type mask for a Motor I/O bit.

void	DigitalIoTypeSet (RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type)
	Set the type for a Motor I/O bit.

double	AnalogInGet (int32_t channel)
	Get the value of an analog input.


Motion Configuration
double	EStopDecelerationGet ()
	Get the deceleration rate for an E-Stop, Modify Event.

void	EStopDecelerationSet (double decel)
	Set the deceleration rate for an E-Stop, Modify Event.

double	EStopJerkPercentGet ()
	Get the jerk percent for an E-Stop, Modify Event.

void	EStopJerkPercentSet (double jerkPct)
	Set the jerk percent for an E-Stop, Modify Event.

double	TriggeredModifyDecelerationGet ()
	Get the deceleration rate for an Triggered Modify Event.

void	TriggeredModifyDecelerationSet (double decel)
	Set the deceleration rate for an Triggered Modify Event.

double	TriggeredModifyJerkPercentGet ()
	Get the jerk percent for an Triggered Modify Event.

void	TriggeredModifyJerkPercentSet (double jerkPct)
	Set the jerk percent for an Triggered Modify Event.

int32_t	FrameBufferSizeGet ()

void	FrameBufferSizeSet (int32_t frameSize)

uint16_t	MotionIdExecutingGet ()

uint16_t	MotionElementIdExecutingGet ()


Configuration and Information
double	MotionFinalVelocityGet ()
	Get final velocity of a motion, when FINAL_VEL motion attribute is used.

void	MotionFinalVelocitySet (double finalVelocity)
	Set the final velocity of a motion, when FINAL_VEL motion attribute is used.

double	DefaultVelocityGet ()
	Get the default velocity in UserUnits.

void	DefaultVelocitySet (double velocity)
	Set the default velocity in UserUnits.

double	DefaultAccelerationGet ()
	Get the default acceleration in UserUnits.

void	DefaultAccelerationSet (double acceleration)
	Set the default acceleration in UserUnits.

double	DefaultDecelerationGet ()
	Get the default deceleration in UserUnits.

void	DefaultDecelerationSet (double deceleration)
	Set the default deceleration in UserUnits.

double	DefaultJerkPercentGet ()
	Get the default jerk percent.

void	DefaultJerkPercentSet (double jerkPercent)
	Set the default jerk percent.

double	DefaultPosition1Get ()
	Get the default Position 1 value in UserUnits (used by RapidSetup).

void	DefaultPosition1Set (double position1)
	Set the default Position 1 value in UserUnits (used by RapidSetup).

double	DefaultPosition2Get ()
	Get the default Position 2 value in UserUnits (used by RapidSetup).

void	DefaultPosition2Set (double position2)
	Set the default Position 2 value in UserUnits (used by RapidSetup).

double	DefaultRelativeIncrementGet ()
	Get the default relative increment value in UserUnits (used by RapidSetup).

void	DefaultRelativeIncrementSet (double relativeIncrement)
	Set the default relative value in UserUnits (used by RapidSetup).


Limits and Action Configuration
RSIAction	AmpFaultActionGet ()
	Get the Amp Fault action.

void	AmpFaultActionSet (RSIAction action)
	Set the Amp Fault action.

bool	AmpFaultTriggerStateGet ()
	Get the Amp Fault trigger state.

void	AmpFaultTriggerStateSet (bool state)
	Set the trigger state of the Amp Fault input.

double	AmpFaultDurationGet ()
	Get the duration required before the Amp Fault event triggers.

void	AmpFaultDurationSet (double seconds)
	Set the duration required before the Amp Fault event triggers.

RSIAction	HomeActionGet ()
	Get the action that will occur when the Home LIMIT triggers.

void	HomeActionSet (RSIAction action)
	Set the action that will occur when the Home Event triggers.

bool	HomeTriggerStateGet ()
	Get the trigger state for the Home input.

void	HomeTriggerStateSet (bool state)
	Set the trigger state for the Home input.

double	HomeDurationGet ()
	Get the duration required before the Home event triggers.

void	HomeDurationSet (double seconds)
	Set the duration required before the Home event triggers.

RSIAction	ErrorLimitActionGet ()
	Get the action that will occur when the Position Error Limit Event triggers.

void	ErrorLimitActionSet (RSIAction action)
	Set the action that will occur when the Error Limit Event triggers.

double	ErrorLimitTriggerValueGet ()
	Get the Position Error Limit trigger value.

void	ErrorLimitTriggerValueSet (double triggerValue)
	Set the Position Error Limit trigger value.

double	ErrorLimitDurationGet ()
	Get the duration required before the Position Error Limit event triggers.

void	ErrorLimitDurationSet (double seconds)
	Sets the duration required before the Position Error Limit event triggers.

RSIAction	HardwareNegLimitActionGet ()
	Get the action that will occur when the Hardware Negative Limit Event triggers.

void	HardwareNegLimitActionSet (RSIAction action)
	Set the action that will occur when the Hardware Negative Limit Event triggers.

bool	HardwareNegLimitTriggerStateGet ()
	Trigger state return.

void	HardwareNegLimitTriggerStateSet (bool state)
	Sets the trigger state.

double	HardwareNegLimitDurationGet ()
	Get the duration required before the Hardware Negative Limit event triggers.

void	HardwareNegLimitDurationSet (double seconds)
	Set the duration required before the Hardware Negative Limit event triggers.

RSIAction	HardwarePosLimitActionGet ()
	Get the action that will occur when the Hardware Positive Limit Event triggers.

void	HardwarePosLimitActionSet (RSIAction action)
	Set the action that will occur when the Hardware Positive Limit Event triggers.

bool	HardwarePosLimitTriggerStateGet ()
	trigger state return.

void	HardwarePosLimitTriggerStateSet (bool state)
	sets the trigger state.

double	HardwarePosLimitDurationGet ()
	Get the duration required before the Hardware Positive Limit event triggers.

void	HardwarePosLimitDurationSet (double seconds)
	Set the duration required before the Hardware Positive Limit event triggers.

RSIAction	SoftwareNegLimitActionGet ()
	Get the action that will occur when the Software Negative Limit Event triggers.

void	SoftwareNegLimitActionSet (RSIAction action)
	Set the action that will occur when the Software Negative Limit Event triggers.

double	SoftwareNegLimitTriggerValueGet ()
	Get the Software Negative Position limit.

void	SoftwareNegLimitTriggerValueSet (double triggerValue)
	Set the Software Negative Position limit.

RSIAction	SoftwarePosLimitActionGet ()
	Get the action that will occur when the Software Positive Limit Event triggers.

void	SoftwarePosLimitActionSet (RSIAction action)
	Set the action that will occur when the Software Positive Limit Event triggers.

double	SoftwarePosLimitTriggerValueGet ()
	Get the Software Positive Position limit.

void	SoftwarePosLimitTriggerValueSet (double triggerValue)
	Set the Software Positive Position limit.

RSIAction	EncoderFaultActionGet ()
	Get the action that will occur when the Encoder Fault Limit Event triggers.

void	EncoderFaultActionSet (RSIAction action)
	Set the action that will occur when the Encoder Fault Limit Event triggers.

RSIMotorFeedbackFault	EncoderFaultTriggerGet ()
	Get the encoders which are used to generate encoder faults.

void	EncoderFaultTriggerSet (RSIMotorFeedbackFault encoder)
	Set the encoders which are used to generate encoder faults.

double	EncoderFaultDurationGet ()
	Get the duration required before the Encoder Fault Limit event triggers.

void	EncoderFaultDurationSet (double seconds)
	Set the duration required before the Encoder Fault Limit event triggers.

RSIAction	NodeFailureActionGet ()
	Get the action for a node failure.

void	NodeFailureActionSet (RSIAction action)
	Set the action for a node failure.

uint64_t	AddressGet (RSIAxisAddressType addressType)
	Get the an address for some location on the Axis.

RSIDataType	AddressDataTypeGet (RSIAxisAddressType type)
	Get the data type for an address the Axis.

RSIAction	LimitActionGet (RSIEventType limit)
	Get the action for any type of limit.

void	LimitActionSet (RSIEventType limit, RSIAction action)
	Set the action for any type of limit.

bool	LimitTriggerStateGet (RSIEventType limit)
	Get the trigger state for any type of limit.

void	LimitTriggerStateSet (RSIEventType limit, bool triggerState)
	Set the trigger state for any type of limit.

double	LimitTriggerValueGet (RSIEventType limit)
	Get the trigger value for any type of limit.

void	LimitTriggerValueSet (RSIEventType limit, double triggerValue)
	Set the trigger value for any type of limit.

double	LimitDurationGet (RSIEventType limit)
	Get the duration for any type of limit.

void	LimitDurationSet (RSIEventType limit, double seconds)
	Set the duration for any type of limit.


Settling Criteria Configuration
double	PositionToleranceFineGet ()
	Get the Fine Position Tolerance for axis settling.

void	PositionToleranceFineSet (double tolerance)
	Set the Fine Position Tolerance for Axis settling.

double	PositionToleranceCoarseGet ()
	Get the Coarse Position Tolerance for axis settling.

void	PositionToleranceCoarseSet (double tolerance)
	Set the Coarse Position Tolerance for Axis settling.

double	VelocityToleranceGet ()
	Get the velocity tolerance used for settling.

void	VelocityToleranceSet (double tolerance)
	Set the Velocity Tolerance used for settling.

double	SettlingTimeGet ()
	Get the Settling time.

void	SettlingTimeSet (double time)
	Set the settling time.

bool	SettleOnStopGet ()
	Get the Stop Event settling configuration.

void	SettleOnStopSet (bool state)
	Set the Stop Event settling configuration.

bool	SettleOnEStopGet ()
	Get the E-Stop Event settling configuration.

void	SettleOnEStopSet (bool state)
	Set the E-Stop Event settling configuration.

bool	SettleOnEStopCmdEqActGet ()
	Get the E-Stop Event settling configuration when E-Stop is configured for (Command = Actual).

void	SettleOnEStopCmdEqActSet (bool state)
	Set the settling configuration for E-Stop events (when configured for Command = Actual).


Motor Configuration
RSIMotorType	MotorTypeGet ()
	Get the motor type.

void	MotorTypeSet (RSIMotorType type)
	Set the motor type.

RSIMotorDisableAction	AmpDisableActionGet ()
	Get the Amp Disable action.

void	AmpDisableActionSet (RSIMotorDisableAction action)
	Set the Amp Disable action.

RSIMotorBrakeMode	BrakeModeGet ()
	Get the brake mode.

void	BrakeModeSet (RSIMotorBrakeMode mode)
	Set the brake mode.

double	BrakeApplyDelayGet ()
	Get the delay time for the brake to be applied.

void	BrakeApplyDelaySet (double seconds)
	Set the brake apply delay.

double	BrakeReleaseDelayGet ()
	Get the brake release delay time.

void	BrakeReleaseDelaySet (double seconds)
	Set the Brake Release Delay.

void	ClosedLoopStepperSet (bool enable)
	Unsupported.

int32_t	ClosedLoopStepperVersionGet ()
	Unsupported.

uint64_t	EncoderPointerGet (RSIMotorFeedback encoder)
	Get the pointer (host address) for the motor feedback.

void	EncoderPointerSet (RSIMotorFeedback encoder, uint64_t address)
	Set the pointer (host address) for the motor feedback.

uint64_t	FeedbackDeltaPointerGet (RSIAxisPositionInput input)
	Get the pointer (host address) for the axis feedback.

void	FeedbackDeltaPointerSet (RSIAxisPositionInput input, uint64_t address)
	Set the pointer (host address) for the axis feedback.

uint64_t	FeedbackPointerGet (RSIAxisPositionInput input)
	Get the pointer (host address) for the axis feedback.

void	FeedbackPointerSet (RSIAxisPositionInput input, uint64_t address)
	Configure an axis for dual loop feedback.

int32_t	EncoderRatioNumeratorGet (RSIMotorFeedback encoder)
	Get the encoder ratio numerator.

int32_t	EncoderRatioDenominatorGet (RSIMotorFeedback encoder)
	Get the encoder ration denominator.

void	EncoderRatioSet (RSIMotorFeedback encoder, int32_t numerator, int32_t denominator)
	Sets the ratio to scale Encoder counts.

const char *const	EncoderRatioPrimaryGet ()
	Get the primary feedback encoder ratio as text.

void	EncoderRatioPrimarySet (char *numeratorCommaDenominator)
	Set the primary feedback encoder ratio as text. "1.0 ,2.0".

const char *const	EncoderRatioSecondaryGet ()
	Get the secondary feedback encoder ratio as text.

void	EncoderRatioSecondarySet (char *numeratorCommaDenominator)
	Set the secondary feedback encoder ratio as text. "1.0 ,2.0".

int32_t	EncoderCountGet ()
	Get the number of encoders processed in firmware by the motor object. Valid values: 0,1,2.

void	EncoderCountSet (int32_t count)

RSIAxisGantryType	GantryTypeGet ()
	Get the gantry type.

void	GantryTypeSet (RSIAxisGantryType type)
	Set the gantry type.

RSIOperationMode	OperationModeGet ()
	Get the operation mode.

void	OperationModeSet (RSIOperationMode mode)
	Set the axis operation mode.

int32_t	MotorFaultMaskGet ()
	Get the Motor Fault Mask.

void	MotorFaultMaskSet (int32_t faultMask)
	Set the Motor Fault Mask.


Gearing
void	GearingEnable (int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator)
	Enable this Axis to be follower (slave) using electronic gearing.

void	GearingEnable (Axis *masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator)
	Enable this Axis to be a follower (slave) using electronic gearing. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

void	GearingRatioChange (int32_t numerator, int32_t denominator)
	Change the electronic gearing ratio.

void	GearingDisable ()
	Disable the electronic gearing.

int32_t	GearingNumeratorGet ()
	Get the numerator of the gearing ratio.

int32_t	GearingDenominatorGet ()
	Get the denominator of the gearing ratio.

bool	GearingEnableGet ()
	Get the state of gearing feature. If true, this Axis is a geared slave.

int32_t	GearingMasterAxisNumberGet ()
	Get a Slave's Master Axis Number.

RSIAxisMasterType	GearingSourceGet ()
	Get the Source used to slave to the Master Axis.


Camming
double	MotionCamMasterStartGet (Axis *master)
	Gets the position on the master that will start the cam when exceeded.

void	MotionCamMasterStartSet (Axis *master, double startPosition)
	Set the position at which camming starts.

int32_t	MotionCamRepeatFromGet ()
	Get the segment at which camming repeats.

void	MotionCamRepeatFromSet (int32_t repeatFrom)
	Set the segment at which camming repeats.

void	MotionCamRepeatStop ()
	Stops a Repeating Cam.

void	MoveCamLinear (int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double const masterDistances, const double const slavePositions, int32_t pointCount)
	Enable this Axis to be linear follower (slave) using an electronic cam.

void	MoveCamCubic (int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double const masterDistances, const double const slavePositions, const double *const gearRatios, int32_t pointCount)
	Enable this Axis to be cubic follower (slave) using an electronic cam.

int32_t	DriveIndexGet ()
	Get the drive index, relative to the Network Node (multi-axis drives)


Backlash
double	BacklashWidthGet ()
	Gets the Backlash Width which was set by the user.

void	BacklashWidthSet (double width)
	Sets the total range of the give in a system with Backlash.

double	BacklashRateGet ()
	Gets the Backlash Rate which was set by the user.

void	BacklashRateSet (double rate)
	Sets the rate at which Backlash is applied.

double	BacklashValueGet ()
	Gets the current backlash compensation value.


Filter
RSIFilterAlgorithm	FilterAlgorithmGet ()
	Get the control algorithm type for an axis.

void	FilterAlgorithmSet (RSIFilterAlgorithm algorithm)
	Set the algorithm type for an axis.

double	FilterCoeffGet (RSIFilterGainPIDCoeff coeff, int32_t gainTable)
	Get value for a filter coefficient (ex: Kp, Ki, Kd, etc).

void	FilterCoeffSet (RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue)
	Set a filter coefficient (ex: Kp, Ki, Kd).

double	FilterCoeffGet (RSIFilterGainPIVCoeff coeff, int32_t gainTable)

void	FilterCoeffSet (RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue)

int32_t	FilterGainTableGet ()
	Gets which gain table is currently in use by the axis.

void	FilterGainTableSet (int32_t gainTable)
	Set the gain table to be used by an axis.

int32_t	FilterGainTableSizeGet ()
	Gets the size of gain tables.

double	FilterOutputGet (void)
	Get the output of a demand filter, range is +/- 100.0.

double	FilterLowPassGet ()
	Get the value of the Low-Pass filter.

void	FilterLowPassSet (double frequency)
	Use a Low-Pass filter.

void	FilterDualLoopSet (Axis *velocityAxis, RSIMotorFeedback velocityEncoder, bool enable)
	Configure an axis for dual loop feedback.

bool	FilterGainSchedulingGet ()
	Get the status of automatic gain scheduling.

void	FilterGainSchedulingSet (bool enable)
	Enable or disable automatic gain scheduling.

bool	IsTuneable ()
	Is an Axis tunable? Returns false if Axis is in position mode, otherwise true.

void	PostFilterLowPassSet (int32_t sectionNumber, double frequency)
	Use a Low-Pass filter.

void	PostFilterUnityGainSet (int32_t sectionNumber)
	Use a Unity Gain Post Filter.

void	PostFilterSingleOrderSet (int32_t sectionNumber, double aOne, double bZero, double bOne)
	Use a Single Order Post Filter.

void	PostFilterHighPassSet (int32_t sectionNumber, double cornerFreq)
	Use a High Pass Post Filter.

void	PostFilterNotchSet (int32_t sectionNumber, double centerFreq, double bandwidth)
	Use a Notch Post Filter.

void	PostFilterResonatorSet (int32_t sectionNumber, double centerFreq, double bandwidth, double gain)
	Use a Resonator Post Filter.

void	PostFilterLeadLagSet (int32_t sectionNumber, double lowGain, double highGain, double centerFreq)
	Use a Lead Lag Post Filter.

void	PostFilterClear (int32_t sectionNumber)
	Remove any Post Filters in section Number.

void	PostFilterBiquadSet (int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo)
	Use a Digital Biquad Post Filter.

const char *const	PostFilterInfoGet ()
	Get a text description of the current post filters.


Info
const char *const	UserLabelGet ()
	Get the axis User defined Label.

void	UserLabelSet (const char *const userLabel)
	Set the axis User defined Label.


Post Trajectory Gearing
void	PostTrajectoryGearingEnableSet (bool enable)
	Enable or disable the post-trajectory gearing feature.

bool	PostTrajectoryGearingEnableGet ()
	Get the state of post-trajectory gearing feature. If true, this Axis is a post-trajectory geared slave.

void	PostTrajectoryGearingMasterAxisSet (int32_t masterAxisNumber)
	Set the master axis number of the post-trajectory gearing.

int32_t	PostTrajectoryGearingMasterAxisGet ()
	Get the master axis number of the post-trajectory gearing.

void	PostTrajectoryGearingMultiplierSet (double multiplier)
	Set the multiplier for post-trajectory gearing. This feature only works for an Axis in position mode.

double	PostTrajectoryGearingMultiplierGet ()
	Get the multiplier for the post-trajectory gearing.

uint32_t	NetworkIndexGet (RSINetworkIndexType indexType)
	Get the Network Index associated with a DS402 Axis Feature.

void	NetworkIndexSet (RSINetworkIndexType indexType, uint32_t newIndex)
	Set the Network Index associated with a DS402 Axis Feature.


double	BacklashHysteresisLimitGet ()
	Get the backlash hysteresis limit.

void	BacklashHysteresisLimitSet (double hysteresisLimit)
	Brief.

bool	StepperMotorLoopbackGet ()
	Determine if the stepper is open or closed loop.

void	StepperMotorLoopbackSet (bool loopback)
	Configure the stepper to be open or closed loop.

RSIMotorStepperPulseType	StepperMotorPulseTypeGet (RSIMotorStepperPulse pulse)
	Determine how the stepper pulse outputs are configured.

void	StepperMotorPulseTypeSet (RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type)
	Set how the stepper pulse outputs are configured.

uint64_t	GearingMasterAddressGet ()
	Get the address of the gearing master.


Info
int32_t	NumberGet ()
	Get the axis number.

int32_t	AxisCountGet ()
	Get the axis count.


Action
void	TriggeredModify ()
	Modify the currently executing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE state.

void	Stop ()
	Stop an axis.

void	Resume ()
	Resume an axis.

void	EStop ()
	E-Stop an axis.

void	EStopAbort ()
	E-Stop, then abort an axis.

void	EStopModify ()
	E-Stop with a deceleration rate.

void	EStopModifyAbort ()

void	Abort ()
	Abort an axis.

void	ClearFaults ()
	Clear all faults for an Axis or MultiAxis.

void	AmpEnableSet (bool enable)
	Enable all amplifiers.

int32_t	AmpEnableSet (bool enable, int32_t ampActiveTimeoutMilliseconds)
	Enable all amplifiers.

void	Map ()
	Writes the axis mapping relationship to the Controller.

void	Unmap ()
	Removes the axis mapping relationship of the MultiAxis.

bool	IsMapped ()
	Check to see if the axis mapping is active on the firmware.

void	FeedRateSet (double rate)
	Set the feed rate for an Axis.

double	FeedRateGet ()
	Get the axis feed rate.


State and Status
RSIState	StateGet ()
	Get the Axis or MultiAxis state.

RSISource	SourceGet ()
	Get the source of an error state for an Axis or MultiAxis.

const char *const	SourceNameGet (RSISource source)
	Get the name (string) of the source of an error for an Axis or MultiAxis.

int32_t	MotionDoneWait ()
	Waits for a move to complete.

int32_t	MotionDoneWait (int32_t waitTimeoutMilliseconds)
	Waits for a move to complete.

bool	MotionDoneGet ()
	Check to see if motion is done and settled.

bool	StatusBitGet (RSIEventType bitMask)
	Return the state of a status bit.

uint64_t	StatusBitsGet ()
	Return all the RMP firmware status bits as a 64-bit unsigned bitmask.


Interrupts
void	InterruptEnableSet (bool enable)
	Control interrupts for this class.

void	InterruptWake ()
	Wake all threads waiting for an interrupt on this Axis.


Motion Configuration
double	StopTimeGet ()
	Get Stop Event deceleration time.

void	StopTimeSet (double seconds)
	Set the deceleration time for a Stop Event.

double	EStopTimeGet ()
	Get E-Stop Event deceleration time.

void	EStopTimeSet (double seconds)
	Set the deceleration time for an E-Stop Event.

double	MotionDelayGet ()
	Get the delay (seconds) that will occur before motion starts.

void	MotionDelaySet (double seconds)
	Set the time (seconds) that a motion will wait before starting.

uint16_t	MotionIdGet ()
	Get the motion identifier.

void	MotionIdSet (uint16_t id)
	Set the Motion identifier.

RSIMotionHoldType	MotionHoldTypeGet ()
	Get the motion hold attribute type.

void	MotionHoldTypeSet (RSIMotionHoldType type)
	Set the motion hold type.

int32_t	MotionHoldGateNumberGet ()
	Returns the Motion Hold Gate number that the axis or multiaxis is set to.

void	MotionHoldGateNumberSet (int32_t gateNumber)
	Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate.

double	MotionHoldTimeoutGet ()
	Get the motion hold timeout value.

void	MotionHoldTimeoutSet (double seconds)
	Set the motion hold timeout value.

bool	MotionHoldGateGet ()
	Get the state of the hold gate.

void	MotionHoldGateSet (bool hold)
	Set the Motion Hold Gate.

int32_t	MotionHoldAxisNumberGet ()
	Gets the Axis number.

void	MotionHoldAxisNumberSet (int32_t number)
	Sets the Axis number for Motion Hold.

double	MotionHoldAxisPositionGet ()
	Gets the Axis position.

void	MotionHoldAxisPositionSet (double position)
	Sets the Axis position.

RSIUserLimitLogic	MotionHoldAxisLogicGet ()
	Get the logic when holding for Axis ActualPosition.

void	MotionHoldAxisLogicSet (RSIUserLimitLogic logic)
	Set the logic when holding for Axis ActualPosition.

uint64_t	MotionHoldUserAddressGet ()
	Gets the Motion Hold User Address.

void	MotionHoldUserAddressSet (uint64_t address)
	Sets the Motion Hold User Address.

int32_t	MotionHoldUserMaskGet ()
	Gets the Motion Hold User Mask.

void	MotionHoldUserMaskSet (int32_t holdMask)
	Sets the Motion Hold User bit mask.

int32_t	MotionHoldUserPatternGet ()
	Gets the Motion Hold user bit pattern.

void	MotionHoldUserPatternSet (int32_t pattern)
	Sets the Motion Hold User pattern bit mask.

void	MotionAttributeMaskDefaultSet ()
	Restore the motion attribute mask to the RapidCode default.

bool	MotionAttributeMaskOnGet (RSIMotionAttrMask maskOn)
	Check to see if a particular motion attribute mask is turned on.

void	MotionAttributeMaskOnSet (RSIMotionAttrMask maskOn)
	Turn on a particular motion attribute mask.

void	MotionAttributeMaskOffSet (RSIMotionAttrMask maskOff)
	Turn off a particular motion attribute mask.


Streaming Motion
void	MovePT (RSIMotionType type, const double const position, const double const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
	A move commanded by a list of position and time points.

void	MovePVT (const double const position, const double const velocity, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
	Move commanded by list of positions, velocities, and times.

void	MovePVAJT (const double const position, const double const velocity, const double const acceleration, const double const jerk, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)

void	StreamingOutputAdd (int32_t onMask, int32_t offMask, uint64_t address)

void	StreamingOutputAdd (int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex)
	Applies the on and off bitmasks to the controller's memory address when the motion reaches the specified streaming point index. Used to toggle Digital Outputs and/or memory.

void	StreamingOutputAdd (RapidCode::IOPoint *point, bool on)

void	StreamingOutputAdd (RapidCode::IOPoint *point, bool on, int32_t ptPointIndex)
	Sets the state of the specified IOPoint when the motion reaches the specified streaming point index.

void	StreamingOutputsClear ()
	Clear the contents of the Streaming Output List.

void	StreamingOutputsEnableSet (bool enable)
	Sets whether Streaming Output is enabled (true) or disabled (false).


Interrupts
RSIEventType	InterruptWait (int32_t milliseconds)
	Suspend the current thread until an interrupt arrives from the controller.

const char *const	InterruptNameGet ()
	Get the text name of an interrupt type.

int32_t	InterruptSampleTimeGet ()
	Get the sample timer value when the last interrupt was generated.

int32_t	InterruptSourceNumberGet ()
	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.

uint16_t	InterruptMotionIdGet ()
	Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.

void	InterruptMaskClear ()
	Clear the interrupt mask so no interrupts will be generated.

void	InterruptMaskAllSet ()
	Set all the bits of the interrupt mask to get interrupts for ALL sources.

void	InterruptMaskOnSet (RSIEventType eventType)
	Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.

void	InterruptMaskOffSet (RSIEventType eventType)
	Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.

bool	InterruptMaskOnGet (RSIEventType eventType)
	Get the status of the interrupt mask for the given RSIEventType.

uint64_t	InterruptUserDataGet (uint32_t userDataIndex)
	Get the user data associated with the interrupt, as a 64-bit unsigned integer.

double	InterruptUserDataDoubleGet (uint32_t userDataIndex)
	Get the user data associated with the interrupt, as a 64-bit double.

FirmwareValue	InterruptUserDataValueGet (uint32_t userDataIndex)
	Read the user data associated with the interrupt as a FirmwareValue.

void	InterruptUserDataAddressSet (uint32_t userDataIndex, uint64_t hostAddress)
	Set the interrupt's UserData address.

uint64_t	InterruptUserDataAddressGet (uint32_t userDataIndex)
	Get the 64-bit host address from the interrupt's UserData.


Version
const char *const	VersionGet ()
	Get the RSI RapidCode version.

int32_t	MpiVersionMajor ()
	Get the major MPI version.

int32_t	MpiVersionMinor ()
	Get the minor MPI version.

int32_t	MpiVersionRelease ()
	Get the release MPI version.

int32_t	RSIVersionMajor ()
	Get the major RSI version.

int32_t	RSIVersionMinor ()
	Get the minor RSI version.

int32_t	RSIVersionMicro ()
	Get the micro RSI version.

int32_t	RSIVersionPatch ()
	Get the patch RSI version.


Errors and Exceptions
int32_t	ErrorLogCountGet ()
	Get the number of software errors in the error log.

const RsiError *const	ErrorLogGet ()
	Get the next RsiError in the log.

void	ErrorLogClear ()
	Clear the error log.

void	ThrowExceptions (bool state)
	Configure a class to throw exceptions.

const char *const	RsiErrorMessageGet (RSIErrorMessage msg)
	Get the RSI-specific error message text for a specific RSIErrorMessage.

const char *const	ErrorMessageGet (RSIErrorMessage msg)
	Get the detailed text message for an RSIErrorMessage.

bool	WarningMsgCheck (RSIErrorMessage msg)
	Check to see if an RSIErrorMessage is a warning (true) or not (false).


Tracing
void	Trace (bool state)
	Enables/Disables trace output.

void	TraceMaskOnSet (RSITrace maskOn)
	Turn on a particular trace output mask.

bool	TraceMaskOnGet (RSITrace maskOn)
	Check to see if a particular trace output mask is turned on.

void	TraceMaskOffSet (RSITrace maskOff)
	Turn off a particular trace output mask.

void	TraceMaskClear ()
	Clear the trace output mask.

void	TraceFileSet (const char *const fileName)
	Channels Tracing messages to specified file.

void	TraceFileClose ()
	Stops Logging to the file.

void	TraceInjectMessage (RSITrace traceLevel, const char *const message)
	Add a message to the Trace Log.

Attributes

RapidCode Objects
NetworkNode *	NetworkNode
	Gets the associated NetworkNode object.


RapidCode Objects `Inherited`
MotionController *	rsiControl
	Gets the parent MotionController object.

Static Attributes

Constants
static constexpr uint32_t	NetworkIndexInvalid = 65535
	Returned by NetworkIndexGet() when the index is invalid or nonexistent for this Axis.

static constexpr double	AmpEnableAmpFaultTimeoutSecondsDefault = 1.0
	Default time an Axis waits before generating an AmpFault if the Axis does not enable after calling AmpEnableSet(true).

Description

Definition at line 5643 of file rsi.h.

Functions

Attributes

Static Attributes

Description