Represents an EtherCAT node / SubDevice (Drive, I/O Block, etc) on the network. This class provides an interface to all digital and analog I/O on the node, as well as the ability to read and write SDOs. Get or create a NetworkNode using MotionController::NetworkNodeGet or the Axis property, NetworkNode.
More...
|
|
|
|
bool | Exists () |
| | Returns true if this NetworkNode exists on a physical network.
|
| |
|
RSINodeType | TypeGet () |
| | Get the node type, as determined by the Vendor ID and Product Code.
|
| |
|
bool | IsEtherCAT () |
| | Check if the node is EtherCAT.
|
| |
|
bool | IsSynqNet () |
| | Check if the node is SynqNet.
|
| |
|
|
|
bool | HasIO () |
| | Returns true if the node has any kind of inputs or outputs (analog/digital).
|
| |
|
bool | DigitalInGet (int32_t digitalInNumber) |
| | Get the state of a digital input.
|
| |
|
bool | DigitalOutGet (int32_t digitalOutNumber) |
| | Get the state of a digital output.
|
| |
|
void | DigitalOutSet (int32_t digitalOutNumber, bool state) |
| | Set the state of a digital output.
|
| |
|
int32_t | AnalogInGet (int32_t analogChannel) |
| | Get the value of an analog input.
|
| |
|
int32_t | AnalogOutGet (int32_t analogChannel) |
| | Get the value of an analog output.
|
| |
|
void | AnalogOutSet (int32_t analogChannel, int32_t analogValue) |
| | Set the value of an analog output.
|
| |
|
|
|
int32_t | DigitalInCountGet () |
| | Get the number of digital inputs on this node.
|
| |
|
int32_t | DigitalOutCountGet () |
| | Get the number of digital outputs on this node.
|
| |
|
int32_t | AnalogInCountGet () |
| | Get the number of analog inputs on this node.
|
| |
|
int32_t | AnalogOutCountGet () |
| | Get the number of analog outputs on this node.
|
| |
|
int32_t | SegmentCountGet () |
| | Get the number of segments on this node.
|
| |
|
int32_t | SegmentDigitalInCountGet (int32_t segmentNumber) |
| | Get the number of digital inputs on a segment.
|
| |
|
int32_t | SegmentDigitalOutCountGet (int32_t segmentNumber) |
| | Get the number of digital outputs on a segment.
|
| |
|
int32_t | SegmentAnalogInCountGet (int32_t segmentNumber) |
| | Get the number of analog inputs on a segment.
|
| |
|
int32_t | SegmentAnalogOutCountGet (int32_t segmentNumber) |
| | Get the number of analog outputs on a segment.
|
| |
|
int32_t | SegmentIDGet (int32_t segmentNumber) |
| | Get the ID number of a segment.
|
| |
| uint64_t | DigitalInAddressGet (int32_t bitNumber) |
| | Get the controller memory address for a Node's digital input.
|
| |
| int32_t | DigitalInMaskGet (int32_t bitNumber) |
| | Get the bitwise mask for a Node's digital input.
|
| |
| uint64_t | DigitalOutAddressGet (int32_t bitNumber) |
| | Get the controller memory address for a Node's digital output.
|
| |
| int32_t | DigitalOutMaskGet (int32_t bitNumber) |
| | Get the bitwise mask for a Node's digital output.
|
| |
| uint64_t | AnalogInAddressGet (int32_t channel) |
| | Get the controller memory address for a Node's analog input.
|
| |
| int32_t | AnalogInMaskGet (int32_t channel) |
| | Get the bitwise mask for a Node's analog input.
|
| |
| uint64_t | AnalogOutAddressGet (int32_t channel) |
| | Get the controller memory address for a Node's analog output.
|
| |
| int32_t | AnalogOutMaskGet (int32_t channel) |
| | Get the bitwise mask for a Node's analog output.
|
| |
| int32_t | ServiceChannelRead (int32_t index, int32_t subIndex, int32_t byteCount) |
| | Read a 32-bit integer value from the SDO.
|
| |
| int32_t | ServiceChannelRead (int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) |
| |
| const char *const | ServiceChannelReadString (int32_t index, int32_t subIndex, int32_t byteCount) |
| | Read a string from the SDO.
|
| |
| const char *const | ServiceChannelReadString (int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) |
| |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) |
| | Write a number in the SDO.
|
| |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) |
| |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, const char *const stringValue) |
| | Write a string in the SDO.
|
| |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, const char *const stringValue, uint32_t timeoutMilliseconds) |
| |
| char * | AKDASCIICommand (const char *const command) |
| | Send a Kollmorgen AKD ASCII command (NodeType must equal KOLLMORGEN_AKD)
|
| |
|
void | ClearFaults (int32_t axisNumber) |
| | Clear the faults for a specific axis number on this node.
|
| |
|
uint32_t | VendorIdGet () |
| | Get the EtherCAT vendor ID.
|
| |
| const char *const | NameGet () |
| | Get the Node's Short Name that appears on NodeInfo.xml.
|
| |
| const char *const | ProductNameGet () |
| | Get the Node's Product/Long Name that appears on NodeInfo.xml.
|
| |
| const char *const | VendorNameGet () |
| | Get the Node's Vendor Name that appears on NodeInfo.xml.
|
| |
|
uint32_t | ProductCodeGet () |
| | Get the EtherCAT product code.
|
| |
|
uint32_t | RevisionGet () |
| | Get the EtherCAT hardware revision.
|
| |
|
uint32_t | StationAliasGet () |
| | Get the EtherCAT station alias.
|
| |
|
const char *const | SerialNumberGet () |
| | Get the serial number as text.
|
| |
|
uint32_t | AxisCountGet () |
| | Get the number of Axis objects associated with this NetworkNode.
|
| |
|
uint16_t | StatusWordGet (int32_t axisIndex) |
| | Get the DS402 status word.
|
| |
|
|
| 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.
|
| |
| int32_t | NumberGet () |
| | Get the zero-based index of this object.
|
| |
|
|
| 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).
|
| |
|
|
| 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.
|
| |
1.10.0