rmp/group__rapidcode-api-samples-py-helloworld.html

import os

import platform

import sys


#Import the ntx.dll from INtime

if platform.system() == "Windows":

    os.add_dll_directory("c:\\Program Files (x86)\\INtime\\bin") #ntx.dll


import RapidCodeHelpers as helpers # The check_errors() and check_errors() helpers provided on our API SampleApp documentation pages


#Import the RapidCodePython.py file (Path to your rapidcode install directory)

rapidcode_dir = helpers.find_rapid_code_directory()

sys.path.append(rapidcode_dir)

import RapidCodePython as RapidCode # The RapidCodePython.py wrapper located in your RMP install directory


def print_topology(controller:RapidCode.MotionController):

    stringBuilder = []

    overview = "EtherCAT: {} Nodes, {} {}".format(controller.NetworkNodeCountGet(), controller.NetworkTypeGet(), controller.NetworkStateGet())

    stringBuilder.append(overview)


    Nodes = []

    for i in range(controller.NetworkNodeCountGet()):

        io = controller.IOGet(i)

        helpers.check_errors(io)

        if(io.NetworkNode.Exists()):

            Nodes.append(io.NetworkNode)


    for node in Nodes:

        stringBuilder.append("") # for spacing

        stringBuilder.append("Node[{}] - {} ______________________________________________".format(node.NumberGet(), node.NameGet()))

        stringBuilder.append(" Vendor: {} ".format(node.VendorNameGet() + "Product: {}".format(node.ProductNameGet())))

        stringBuilder.append("  VendorID:      0x{:08X} ProductCode:   0x{:08X}".format(node.VendorIdGet(), node.ProductCodeGet()))

        stringBuilder.append("  HardwareRev:   0x{:08X} SerialNumber:  {}".format(node.RevisionGet(), node.SerialNumberGet()))

        stringBuilder.append("  StationAlias:  0x{:08X} AxisCount:     {}".format(node.StationAliasGet(), node.AxisCountGet()))

        stringBuilder.append("  SegmentCount:  {}".format(node.SegmentCountGet()))

        stringBuilder.append("  DI: {} DO: {} AI: {} AO: {}".format(node.DigitalInCountGet(), node.DigitalOutCountGet(), node.AnalogInCountGet(), node.AnalogOutCountGet()))


    stringBuilder.append("") # spacing

    pdoInputs = controller.NetworkInputCountGet()

    stringBuilder.append("NetworkInputs count: {} _________________________________".format(pdoInputs))

    for i in range(pdoInputs):

        stringBuilder.append("  [{}] - {} Bits: {}".format(i, controller.NetworkInputNameGet(i).ljust(70), controller.NetworkInputBitSizeGet(i)))


    pdoOutputs = controller.NetworkOutputCountGet()

    stringBuilder.append("NetworkOutputs count: {} _________________________________".format(pdoOutputs))

    for i in range(pdoOutputs):

        stringBuilder.append("  [{}] - {} Bits: {}".format(i, controller.NetworkOutputNameGet(i).ljust(70), controller.NetworkOutputBitSizeGet(i)))


    print("\n".join(stringBuilder))


def main():

    print("Hello, RapidCode.")


    creation_params:RapidCode.CreationParameters = helpers.get_creation_parameters()

    motionController:RapidCode.MotionController = RapidCode.MotionController.Create(creation_params)

    print("This object is a "+str(type(motionController)))#When creating your RapidCode objects (Axis, MultiAxis, MotionController,ect) we recommend specifying the type with my_object_name:RapidCode.*** (MotionController,Axis, Ect.) so that your IDE can autocomplete class member names.


    print("MotionController creation error count: ", motionController.ErrorLogCountGet())

    helpers.check_errors(motionController)


    print("RapidCode Version: ", motionController.VersionGet())

    print("Serial Number: ", motionController.SerialNumberGet())

    print("Axis Count: ", motionController.AxisCountGet())


    if motionController.NetworkStateGet() == RapidCode.RSINetworkState_RSINetworkStateOPERATIONAL:

        print_topology(motionController)


    motionController.Delete()