|
|
|
| int32_t | NumberGet () |
| | Get the axis number.
|
| |
| int32_t | AxisCountGet () |
| | Get the axis count.
|
| |
|
|
| 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.
|
| |
| int32_t | AmpEnableSet (bool enable, int32_t ampActiveTimeoutMilliseconds=AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState=false) |
| | Enable all amplifiers.
|
| |
| bool | AmpEnableGet () |
| | Get the enabled state of 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.
|
| |
|
|
| 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.
|
| |
|
|
| void | InterruptEnableSet (bool enable) |
| | Control interrupts for this class.
|
| |
| void | InterruptWake () |
| | Wake all threads waiting for an interrupt on this Axis.
|
| |
|
|
| 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.
|
| |
|
uint16_t | MotionIdExecutingGet () |
| | Get the currently executing motion ID.
|
| |
|
uint16_t | MotionElementIdExecutingGet () |
| | Get the currently executing element ID (streaming motion).
|
| |
| double | MotionFinalVelocityGet () |
| | Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!)
|
| |
| void | MotionFinalVelocitySet (double finalVelocity) |
| | Sets final velocity value in UserUnits (!!! only used if FINAL_VEL motion attribute is used !!!)
|
| |
| 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.
|
| |
|
|
| 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 | MovePTF (const double *const position, const double *const time, const double *const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final) |
| | A move commanded by a list of position, time, and feedforward points.
|
| |
| void | MovePVTF (const double *const position, const double *const velocity, const double *const time, const double *const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final) |
| | Move commanded by list of positions, velocities, times, and feedforward values.
|
| |
| 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).
|
| |
|
|
| 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.
|
| |
|
|
| 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 | 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