Represents the RMP soft motion controller. This class provides an interface to general controller configuration, firmware upload/download, network, user limits and data recording. To make a MotionController object, use MotionController creation methods..
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| Axis * | AxisGet (int32_t axisNumber) |
| | AxisGet returns a pointer to an Axis object and initializes its internals.
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| MultiAxis * | MultiAxisGet (int32_t motionSupervisorNumber) |
| | MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
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| MultiAxis * | LoadExistingMultiAxis (int32_t motionSupervisorNumber) |
| | Get/Create a MultiAxis object from one that already exists (previously setup) on the RMP motion controller firmware.
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| NetworkNode * | NetworkNodeGet (int32_t nodeNumber) |
| | NetworkNodeGet returns a pointer to a RapidCodeNetworkNode object using its node number and initializes its internals.
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| IO * | IOGet (int32_t nodeNumber) |
| | IOGet returns a pointer to an IO object using its node number and initializes its internals.
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| void | Delete (void) |
| | Delete the MotionController and all its objects.
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| void | Reset () |
| | Reset the controller which stops and restarts the RMP firmware.
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| void | Refresh () |
| | Refresh / reinitialize the motion controller. Required after changing dynamic memory object counts.
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| void | Shutdown () |
| | Shutdown the controller.
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| void | MemoryToFile (const char *const fileName) |
| | Saves an RMP firmware memory dump which can be compared with others.
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| int32_t | SampleCounterGet () |
| | Get the current value of the controller's processor's sample counter.
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| double | ProcessorUsageGet () |
| | Get the processor usage percent.
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| void | ProcessorUsageClear () |
| | Clear the processor usage percent.
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| uint32_t | FirmwareTimingDeltaGet () |
| | Get the most recent time (in microseconds) between samples.
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| uint32_t | SerialNumberGet (void) |
| | Get the controller's serial number.
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| void | SampleWait (uint32_t samples) |
| | Wait for controller firmware to execute samples.
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RSIControllerType | ControllerTypeGet () |
| | Get the type of motion controller.
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const char *const | ServerNameGet () |
| | Get the name of the server. (Valid if controller type is CLIENT.)
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int32_t | ServerPortGet () |
| | Get the TCP port of the server. (Valid if controller type is CLIENT.)
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| RSIProcessorType | ProcessorTypeGet () |
| | Get the processor type.
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| void | SampleRateSet (double sampleRate) |
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| double | SampleRateGet () |
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| int32_t | AxisCountGet () |
| | Get the number of axes processing.
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| void | AxisCountSet (int32_t axisCount) |
| | Set the number of allocated and processed axes in the controller.
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| void | AxisCountSet (int32_t axisCount, bool setMotorFilterSupervisor) |
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| bool | IsLicensed () |
| | Check to see if this MotionController is licensed.
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int32_t | PackageVariantGet () |
| | Get the motion controller package.
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int32_t | AxisLicenseCountGet () |
| | Get the number of licensed Axis objects on this motion controller. If you need more, call RSI.
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bool | MechaWareLicenseGet () |
| | Returns true if this motion controller is licensed to run MechaWare.
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int32_t | UnsupportedOptionSet (int32_t option) |
| | deprecated
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| int32_t | MotionCountGet () |
| | Get the number of Motion Supervisors available in the firmware.
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| void | MotionCountSet (int32_t motionCount) |
| | Set the number of processed Motion Supervisors in the controller.
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| int32_t | UserVersionGet () |
| | Get a customer designated Version for the application.
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| void | UserVersionSet (int32_t version) |
| | Sets a customer designed Version for the application.
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| int32_t | ExternalMemorySizeGet () |
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| void | AxisFrameBufferSizeSet (int32_t axisNumber, int32_t frameBufferSize) |
| | Set Frame buffer size for the axis.
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| int32_t | AxisFrameBufferSizeGet (int32_t axisNumber) |
| | Get Frame buffer size for the axis.
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| const char *const | FirmwareVersionGet () |
| | Get the firmware version.
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| int32_t | FirmwareOptionGet () |
| | Get the firmware option number.
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bool | HasMechaWare () |
| | Returns true if this RMP firmware supports MechaWare.
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| int32_t | MemoryGet (uint64_t address) |
| | Read controller memory.
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| double | MemoryDoubleGet (uint64_t address) |
| | Read a 64-bit double value from controller memory.
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| void | MemoryBlockGet (uint64_t address, void *dataStart, int32_t size) |
| | Read controller memory.
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| void | MemorySet (uint64_t address, int32_t data) |
| | Write a value to controller memory.
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| void | MemoryDoubleSet (uint64_t address, double dataDouble) |
| | Write a 64-bit double value to controller memory.
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| void | MemoryBlockSet (uint64_t address, const void *const dataStart, int32_t size) |
| | Set controller memory.
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| uint32_t | FirmwareAddressGet (uint64_t hostAddress) |
| | Convert a host controller address to a firmware address.
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| uint64_t | HostAddressGet (uint32_t firmwareAddress) |
| | Convert a firmware address to a host controller address.
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| int32_t | BackgroundCycleCounterGet () |
| | Get the current value of the controller's processor's background cycle counter.
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| uint64_t | AddressFromStringGet (const char *const addressName) |
| | Get a controller memory address from string.
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| const char *const | StringFromAddressGet (uint64_t hostAddress) |
| | Get a human-readable string from a memory address.
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| uint64_t | AddressGet (RSIControllerAddressType type) |
| | Get the an address for some location on the MotionController.
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| uint64_t | AddressGet (RSIControllerAddressType type, int32_t objectIndex) |
| | Get the an address for some location on the MotionController.
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| RSIDataType | AddressDataTypeGet (RSIControllerAddressType type) |
| | Get the data type for an address on the MotionController.
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| RSIDataType | AddressDataTypeGet (RSIControllerAddressType type, int32_t objectIndex) |
| | Get the data type for an address on the MotionController with a specified object index.
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| bool | MotionHoldGateGet (int32_t gateNumber) |
| | Get the state of the hold gate.
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| void | MotionHoldGateSet (int32_t gateNumber, bool hold) |
| | Set the Motion Hold Gate.
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RSINetworkTechnologyType | NetworkTechnologyTypeGet () |
| | Get the network technology type EtherCAT.
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RSINetworkType | NetworkTypeGet () |
| | Returns network type. (Currently only STRING type is supported.)
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| int32_t | NetworkNodeCountGet () |
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| RSINetworkEniResult | NetworkEniGenerate () |
| | Generate the network ENI file, EtherCAT.xml.
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| const char *const | NetworkEniGenerateOutputGet () |
| | Retrieve the text output from the previous NetworkEniGenerate() call.
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| void | NetworkStart () |
| | Start the network, doing both a discovery followed by starting to OPERATIONAL state.
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| void | NetworkStart (RSINetworkStartupMethod startupMethod) |
| | Start the EtherCAT Network to OPERATIONAL state. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | NetworkStart (RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) |
| | Start the EtherCAT Network to PREOPERATIONL or OPERATIONAL state, with our without discovery. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | NetworkStart (RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) |
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void | NetworkShutdown () |
| | Shutdown the network. For EtherCAT, this will kill the RMPNetwork process.
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| RSINetworkState | NetworkStateGet () |
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int32_t | NetworkCounterGet () |
| | Read the network counter. This increments by one for each cycle of the network.
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int32_t | NetworkInputCountGet () |
| | Get the number of PDO inputs found on the network.
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int32_t | NetworkInputBitSizeGet (int32_t index) |
| | Get the size (in bits) of a network input.
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| const char *const | NetworkInputDataTypeNameGet (int32_t index) |
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| int32_t | NetworkInputBitOffsetGet (int32_t index) |
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const char *const | NetworkInputNameGet (int32_t index) |
| | Get the name of a PDO network input.
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| uint64_t | NetworkInputValueGet (int32_t index) |
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| uint64_t | NetworkInputAddressGet (int32_t index) |
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| int32_t | NetworkOutputCountGet () |
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int32_t | NetworkOutputBitSizeGet (int32_t index) |
| | Get the size (in bits) of a PDO output.
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| const char *const | NetworkOutputDataTypeNameGet (int32_t index) |
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int32_t | NetworkOutputBitOffsetGet (int32_t index) |
| | Get the raw PDO offset for an output.
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const char *const | NetworkOutputNameGet (int32_t index) |
| | Get the name of a PDO output.
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| uint64_t | NetworkOutputValueGet (int32_t index) |
| | Gets the value sent out over EtherCAT.
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| void | NetworkOutputValueSet (int32_t index, uint64_t outputValue) |
| | Sets a PDO output directly.
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| uint64_t | NetworkOutputAddressGet (int32_t index) |
| | Returns an Address of a Network Output.
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| uint64_t | NetworkOutputAddressGet (int32_t index, RSINetworkOutputAddressType type) |
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| uint64_t | NetworkOutputIntendedValueGet (int32_t index) |
| | Gets the value set by the cyclic RMP processes.
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| void | NetworkOutputOverrideSet (int32_t index, bool outputOverride) |
| | Set NetworkOutputValue to override RMP cyclic value.
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| bool | NetworkOutputOverrideGet (int32_t index) |
| | Gets if the NetworkOutputValue or the RMP cyclic value is exchanged over EtherCAT.
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| void | NetworkOutputOverrideValueSet (int32_t index, uint64_t outputValue) |
| | Sets a PDO output directly.
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| uint64_t | NetworkOutputOverrideValueGet (int32_t index) |
| | Sets a PDO output directly.
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| uint64_t | NetworkOutputSentValueGet (int32_t index) |
| | Gets the value sent out over EtherCAT.
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| int32_t | NetworkLogMessageCountGet () |
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RSINetworkStartError | LastNetworkStartErrorGet () |
| | Get the last (most recent) network start error.
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| const char *const | NetworkLogMessageGet (int32_t messageIndex) |
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void | NetworkTimingEnableSet (bool enable) |
| | Enable or disable the firmware to start timing the network packets.
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void | NetworkTimingClear () |
| | Clear all the network timing values.
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uint32_t | NetworkTimingDeltaGet () |
| | Get the number of microseconds since the previous network packet was sent.
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uint32_t | NetworkTimingMinGet () |
| | Get the minimum microseconds recorded between network packets.
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uint32_t | NetworkTimingMaxGet () |
| | Get the maximum microseconds recorded between consecutive network packets.
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void | NetworkTimingThresholdLowSet (uint32_t microseconds) |
| | Set a low threshold. The RMP will count the number of network packets sent below this threshold (too short between packets).
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void | NetworkTimingThresholdHighSet (uint32_t microseconds) |
| | Set a high threshold. The RMP will count the number of network packets sent above this threshold (too long between packets).
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uint32_t | NetworkTimingThresholdLowCountGet () |
| | Get the number of network packets that were sent to quickly (below the low threshold)
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uint32_t | NetworkTimingThresholdHighCountGet () |
| | Get the number of network packets that were sent to slowly (above the high threshold).
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bool | NetworkSynchronizedGet () |
| | Returns true if the network is synchronized with distributed clocks.
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| void | InterruptEnableSet (bool enable) |
| | Control interrupts for this class.
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| void | InterruptWake () |
| | Wake all threads waiting for a controller interrupt.
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| void | SyncInterruptEnableSet (bool enable) |
| | Configure Sync (periodic) interrupts for the controller.
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| void | SyncInterruptPeriodSet (uint32_t samples) |
| | Configure the period for the Sync Interrupt on the controller.
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| int32_t | SyncInterruptWait () |
| | Suspend the current thread until an interrupt arrives from the controller.
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bool | ServiceThreadStateGet () |
| | Returns true if the service thread was started.
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| int32_t | SyncInterruptHostProcessTimeGet () |
| | Get the total number of microseconds availble for host processing.
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int32_t | SyncInterruptHostProcessFlagGet () |
| | Get the host process flag.
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| void | SyncInterruptHostProcessFlagSet (bool hostProcessFlag) |
| | Set the Host Process flag.
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| bool | SyncInterruptHostProcessStatusBitGet () |
| | See if the host was processing too int32_t on previous Sync Interrupt.
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| void | SyncInterruptHostProcessStatusClear () |
| | Clear the Host Process status bit.
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| void | ServiceThreadEnableSet (bool enable) |
| | Enable or disable the service thread.
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| int32_t | RecorderCountGet () |
| | Get the number of Recorder available in the firmware.
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| void | RecorderCountSet (int32_t recorderCount) |
| | Set the number of processed Recorders in the controller.
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| void | RecorderPeriodSet (uint32_t samples) |
| | Set the number of samples between records on Recorder 0.
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void | RecorderPeriodSet (int32_t recorderNumber, uint32_t samples) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderCircularBufferSet (bool enable) |
| | Configure recorder as circular buffer (or not) on Recorder 0.
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void | RecorderCircularBufferSet (int32_t recorderNumber, bool enable) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderDataCountSet (int32_t count) |
| | Set the number of data values to be recorded on Recorder 0.
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void | RecorderDataCountSet (int32_t recorderNumber, int32_t count) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderDataAddressSet (int32_t index, uint64_t address) |
| | Setup the addresses to be recorded on Recorder 0.
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void | RecorderDataAddressSet (int32_t recorderNumber, int32_t index, uint64_t address) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderDataAddressesSet (int32_t recorderNumber, const uint64_t *const addresses, int32_t addressCount) |
| | Setup multiple addresses to record at once.
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| void | RecorderConfigureToTriggerOnMotion (Axis *axis, bool triggerOnMotion) |
| | Configure the Recorder 0 to trigger on Axis motion.
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| void | RecorderConfigureToTriggerOnMotion (int32_t recorderNumber, Axis *axis, bool triggerOnMotion) |
| | Configure the recorder to trigger on Axis motion.
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| void | RecorderConfigureToTriggerOnMotion (MultiAxis *multiAxis, bool triggerOnMotion) |
| | Configure Recorder 0 to trigger on MultiAxis motion.
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| void | RecorderConfigureToTriggerOnMotion (int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) |
| | Configure the recorder to trigger on MultiAxis motion.
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| void | RecorderConfigureToTriggerOnMotion (int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) |
| | Configure the recorder to trigger on motion with a specific motion number.
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| bool | RecorderTriggerOnMotionGet (int32_t recorderNumber) |
| | Check to see if the Recorder is set to trigger on motion.
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| bool | RecorderEnabledGet () |
| | Determine if the recorder is recording on Recorder 0.
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bool | RecorderEnabledGet (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| int32_t | RecorderRecordCountGet () |
| | Get the number of records that are stored and ready for reading on Recorder 0.
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int32_t | RecorderRecordCountGet (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| int32_t | RecorderRecordMaxCountGet () |
| | Get the maximum number of records the recorder can store on Recorder 0.
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int32_t | RecorderRecordMaxCountGet (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderStart () |
| | Start recording data.
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void | RecorderStart (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderStop () |
| | Stop recording data on Recorder 0.
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void | RecorderStop (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| const int32_t *const | RecorderRecordDataGet () |
| | Get one record of recorded data on Recorder 0.
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const int32_t *const | RecorderRecordDataGet (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderRecordDataRetrieve () |
| | Retrieve one record of recorded data on Recorder 0.
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| int32_t | RecorderRecordDataRetrieveBulk (int32_t recorderNumber, int32_t recordCount) |
| | Retrieve a group of records of recorded data.
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void | RecorderRecordDataRetrieve (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| int32_t | RecorderRecordDataValueGet (int32_t index) |
| | Get one value from a retrieved record on Recorder 0.
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int32_t | RecorderRecordDataValueGet (int32_t recorderNumber, int32_t index) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| int32_t | RecorderRecordDataValueGet (int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) |
| | Get one indexed data value from collected data.
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double | RecorderRecordDataDoubleGet (int32_t index) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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double | RecorderRecordDataDoubleGet (int32_t recorderNumber, int32_t index) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| double | RecorderRecordDataDoubleGet (int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) |
| | Get one indexed double value from collected data.
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| void | RecorderBufferHighCountSet (int32_t bufferHighCount) |
| | Set the high count for the recording buffer on Recorder 0.
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void | RecorderBufferHighCountSet (int32_t recorderNumber, int32_t bufferHighCount) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | RecorderReset () |
| | Reset the recorder on Recorder 0.
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void | RecorderReset (int32_t recorderNumber) |
| | This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| int32_t | RecorderBufferSizeGet (int32_t recorderNumber) |
| | Get Frame buffer size for the Recorder.
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| void | RecorderBufferSizeSet (int32_t recorderNumber, int32_t bufferSize) |
| | Set buffer size for the Recorder.
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| int32_t | CompensatorCountGet () |
| | Get the number of Compensators available in the firmware.
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| void | CompensatorCountSet (int32_t compensatorCount) |
| | Set the number of Compensators available in the firmware.
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| int32_t | CompensatorPointCountGet (int32_t compensatorNumber) |
| | Get the number of points for use with a Compensator.
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| void | CompensatorPointCountSet (int32_t compensatorNumber, int32_t pointCount) |
| | Set the number of points for use with a Compensator.
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| int32_t | CompensatorDimensionGet (int32_t compensatorNumber) |
| | Get the dimension of the compensator.
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| void | CompensatorConfigSet (int32_t compensatorNumber, int32_t firstInputAxisNumber, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, int32_t secondInputAxisNumber, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double *const table) |
| | Configure a 2D compensator.
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| void | CompensatorConfigSet (int32_t compensatorNumber, Axis *firstInputAxis, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, Axis *secondInputAxis, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, Axis *outputAxis, RSICompensatorOutputType outputType, const double *const table) |
| | Configure a 2D compensator. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | CompensatorConfigSet (int32_t compensatorNumber, int32_t inputAxisNumber, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double *const table) |
| | Configure a 1D compensator.
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| void | CompensatorConfigSet (int32_t compensatorNumber, Axis *inputAxis, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, Axis *outputAxis, RSICompensatorOutputType outputType, const double *const table) |
| | Configure a 1D compensator.
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| void | CompensatorTableSet (int32_t compensatorNumber, const double *const table) |
| | Override the table for a configured compensator.
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| void | CompensatorTableGet (int32_t compensatorNumber, double *table) |
| | Read the table for a configured compensator.
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| double | CompensatorPositionGet (int32_t compensatorNumber) |
| | Get the compensator position.
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| void | CompensatorTableClear (int32_t compensatorNumber) |
| | Sets all values in the compensator table to 0.
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| void | CompensatorDisable (int32_t compensatorNumber) |
| | Disables the compensator only if it will not cause errors.
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| void | CompensatorDisable (int32_t compensatorNumber, bool force) |
| | Disable a compensator with the option to force the action. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | CompensatorEnable (int32_t compensatorNumber) |
| | Enables the compensator only if it will cause no errors.
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| int32_t | UserLimitCountGet () |
| | Get the number of UserLimits processing in the firmware.
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| void | UserLimitCountSet (int32_t userLimitCount) |
| | Set the number of processed UserLimits in the MotionController.
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| void | UserLimitConfigSet (int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) |
| | Configure a User Limit.
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| void | UserLimitConfigSet (int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) |
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RSIUserLimitTriggerType | UserLimitTriggerTypeGet (int32_t number) |
| | Get the user limit trigger type.
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RSIAction | UserLimitActionGet (int32_t number) |
| | Get the user limit action.
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int32_t | UserLimitAxisNumberGet (int32_t number) |
| | Get the user limit axis number.
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double | UserLimitDurationGet (int32_t number) |
| | Get the user limit duration (seconds).
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bool | UserLimitSingleShotGet (int32_t number) |
| | Returns true if the user limit is configured for single-shot.
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| void | UserLimitConditionSet (int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) |
| | Set the conditions for a User Limit with a 32-bit integer trigger value.
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| void | UserLimitConditionSet (int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) |
| | Set the conditions for a User Limit with a 64-bit double precision trigger value.
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RSIDataType | UserLimitConditionDataTypeGet (int32_t number, int32_t conditionNumber) |
| | Get the user limit condition data type.
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RSIUserLimitLogic | UserLimitConditionLogicGet (int32_t number, int32_t conditionNumber) |
| | Get the user limit condition logic.
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uint64_t | UserLimitConditionAddressGet (int32_t number, int32_t conditionNumber) |
| | Get the user limit condition address.
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uint32_t | UserLimitConditionMaskGet (int32_t number, int32_t conditionNumber) |
| | Get the user limit condition mask.
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int32_t | UserLimitConditionLimitValueGet (int32_t number, int32_t conditionNumber) |
| | Get the user limit condition value.
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double | UserLimitConditionLimitValueDoubleGet (int32_t number, int32_t conditionNumber) |
| | Get the user limit condition limit value (as 64-bit double).
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| void | UserLimitOutputSet (int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) |
| | Configure a User Limit Output block.
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void | UserLimitOutputSet (int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) |
| | User Limit will output a 32-bit value. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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void | UserLimitOutputSet (int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) |
| | User Limit will output a 64-bit value with an AND and OR masks. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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| void | UserLimitOutputSet (int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) |
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| void | UserLimitOutputSet (int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) |
| | Configure a User Limit Output block to copy a value, then output the value.
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bool | UserLimitOutputEnableGet (int32_t number) |
| | Returns true if the user limit output is enabled.
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RSIDataType | UserLimitOutputDataTypeGet (int32_t number) |
| | Get the user limit output data type.
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uint64_t | UserLimitOutputAddressGet (int32_t number) |
| | Get the user limit output address. The output will write its value to this address.
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uint64_t | UserLimitOutputInputAddressGet (int32_t number) |
| | Get the user limit output address. The user limit will output the value stored at this address when the user limit triggers.
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uint32_t | UserLimitOutputAndMaskGet (int32_t number) |
| | Get the user limit output AND mask.
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uint32_t | UserLimitOutputOrMaskGet (int32_t number) |
| | Get the user limit output OR mask.
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int32_t | UserLimitOutputValueGet (int32_t number) |
| | Get the user limit output value.
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uint64_t | UserLimitOutputAndMask64Get (int32_t number) |
| | Get the user limit output 64-bit AND mask.
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uint64_t | UserLimitOutputOrMask64Get (int32_t number) |
| | Get the user limit output 64-bit OR mask.
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double | UserLimitOutputDoubleGet (int32_t number) |
| | Get the user limit output 64-bit double value.
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| bool | UserLimitStateGet (int32_t number) |
| | Get the state of a User Limit.
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| bool | UserLimitEnableGet (int32_t number) |
| | Get the enabled state of a User Limit.
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void | UserLimitEnableSet (int32_t number, bool enable) |
| | Enable or disable a user limit to be processed by the RMP firmware.
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| void | UserLimitDisable (int32_t number) |
| | Disable the processing of a User Limit.
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| void | UserLimitReset (int32_t number) |
| | Clear the latched status of a User Limit.
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| int32_t | UserLimitCountMax () |
| | Get the total number of User Limits available.
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| void | UserLimitInterruptUserDataAddressSet (int32_t number, uint32_t userDataIndex, uint64_t address) |
| | Set the User Data address based on a User Limit trigger.
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uint64_t | UserLimitInterruptUserDataAddressGet (int32_t number, uint32_t userDataIndex) |
| | Get the user limit interrupt user data address.
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| int32_t | MathBlockCountGet () |
| | Get the number of MathBlocks processing in the firmware.
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| void | MathBlockCountSet (int32_t mathBlockCount) |
| | Set the number of processed MathBlocks in the MotionController.
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MathBlockConfig | MathBlockConfigGet (int32_t mathBlockNumber) |
| | Get a MathBlock configuration.
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void | MathBlockConfigSet (int32_t mathBlockNumber, MathBlockConfig &config) |
| | Set a MathBlock configuration.
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FirmwareValue | MathBlockProcessValueGet (int32_t mathBlockNumber) |
| | Get a MathBlock process value.
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| RSIEventType | InterruptWait (int32_t milliseconds) |
| | Suspend the current thread until an interrupt arrives from the controller.
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| const char *const | InterruptNameGet () |
| | Get the text name of an interrupt type.
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| int32_t | InterruptSampleTimeGet () |
| | Get the sample timer value when the last interrupt was generated.
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| int32_t | InterruptSourceNumberGet () |
| | Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
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uint16_t | InterruptMotionIdGet () |
| | Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
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void | InterruptMaskClear () |
| | Clear the interrupt mask so no interrupts will be generated.
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void | InterruptMaskAllSet () |
| | Set all the bits of the interrupt mask to get interrupts for ALL sources.
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void | InterruptMaskOnSet (RSIEventType eventType) |
| | Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
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void | InterruptMaskOffSet (RSIEventType eventType) |
| | Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
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bool | InterruptMaskOnGet (RSIEventType eventType) |
| | Get the status of the interrupt mask for the given RSIEventType.
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| uint64_t | InterruptUserDataGet (uint32_t userDataIndex) |
| | Get the user data associated with the interrupt, as a 64-bit unsigned integer.
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| double | InterruptUserDataDoubleGet (uint32_t userDataIndex) |
| | Get the user data associated with the interrupt, as a 64-bit double.
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| FirmwareValue | InterruptUserDataValueGet (uint32_t userDataIndex) |
| | Read the user data associated with the interrupt as a FirmwareValue.
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| void | InterruptUserDataAddressSet (uint32_t userDataIndex, uint64_t hostAddress) |
| | Set the interrupt's UserData address.
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| uint64_t | InterruptUserDataAddressGet (uint32_t userDataIndex) |
| | Get the 64-bit host address from the interrupt's UserData.
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| const char *const | VersionGet () |
| | Get the RSI RapidCode version.
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int32_t | MpiVersionMajor () |
| | Get the major MPI version.
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int32_t | MpiVersionMinor () |
| | Get the minor MPI version.
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int32_t | MpiVersionRelease () |
| | Get the release MPI version.
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int32_t | RSIVersionMajor () |
| | Get the major RSI version.
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int32_t | RSIVersionMinor () |
| | Get the minor RSI version.
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int32_t | RSIVersionMicro () |
| | Get the micro RSI version.
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int32_t | RSIVersionPatch () |
| | Get the patch RSI version.
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| int32_t | NumberGet () |
| | Get the zero-based index of this object.
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| int32_t | ErrorLogCountGet () |
| | Get the number of software errors in the error log.
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| const RsiError *const | ErrorLogGet () |
| | Get the next RsiError in the log.
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| void | ErrorLogClear () |
| | Clear the error log.
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| void | ThrowExceptions (bool state) |
| | Configure a class to throw exceptions.
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const char *const | RsiErrorMessageGet (RSIErrorMessage msg) |
| | Get the RSI-specific error message text for a specific RSIErrorMessage.
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const char *const | ErrorMessageGet (RSIErrorMessage msg) |
| | Get the detailed text message for an RSIErrorMessage.
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bool | WarningMsgCheck (RSIErrorMessage msg) |
| | Check to see if an RSIErrorMessage is a warning (true) or not (false).
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| void | Trace (bool state) |
| | Enables/Disables trace output.
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| void | TraceMaskOnSet (RSITrace maskOn) |
| | Turn on a particular trace output mask.
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| bool | TraceMaskOnGet (RSITrace maskOn) |
| | Check to see if a particular trace output mask is turned on.
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| void | TraceMaskOffSet (RSITrace maskOff) |
| | Turn off a particular trace output mask.
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| void | TraceMaskClear () |
| | Clear the trace output mask.
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| void | TraceFileSet (const char *const fileName) |
| | Channels Tracing messages to specified file.
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| void | TraceFileClose () |
| | Stops Logging to the file.
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| void | TraceInjectMessage (RSITrace traceLevel, const char *const message) |
| | Add a message to the Trace Log.
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1.10.0