Python

Learn to setup your RapidCode program using our Python wrapper for the RapidCode API. More...

Description

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

The Python feature is in active development. All components subject to change in later versions of RMP.

🔹 Dependencies

1. RapidCodePython.py & _RapidCodePython.pyd (Windows) or _RapidCodePython.so (Linux): The Python wrapper for the RapidCode API. Located in your RMP install directory.
2. RapidCode64.dll (Windows) or librapidcode.so (Linux) : The RapidCode dynamic link library. Located in your RMP install directory.
3. ntx.dll (Windows Only): The INtime library located in C:\Program Files (x86)\INtime\bin.
4. numpy: A common Python package needed for array marshalling. Available here: https://numpy.org/install/

🌐 Subsections

Topics
	🚀 Get started
	Learn RapidCode Python with these sample applications.
	⚙️ Helpers
	Helper Functions for checking logged creation errors, starting the network, etc.
	Axis: Basic Motion
	Basics for getting up and running with Axis motion in RapidCode for Python.
	Controller: Create
	Create a controller in Python.
	IO: Input & Output
	Learn how to work with Input/Output operations in Python.
	NetworkNode: Error Counts
	Learn how to read and display RX error diagnostic counters from all network nodes in an EtherCAT network. The application creates a MotionController object, checks for errors, and if the network is operational, it reads RX error counters from each node and displays them in a formatted table.
	Network: Status
	Learn how to read and display network and node status diagnostics from an EtherCAT network. The application creates a MotionController object, checks for errors, and displays overall network status along with per-node AL Status, status codes, and CoE emergency messages, including each node's service-channel request counts.
	Recorder: Network Status
	Learn how to record every EtherCAT network and node status value continuously, so that when a network fails unexpectedly the final records show what happened. The application spreads the NetworkStatus and per-node status addresses over as many Recorders as needed, keeps recording until the network leaves OPERATIONAL (or a key is pressed), then prints a change log and the newest records, and writes the last seconds of every value to a CSV file and the network firmware log to a text file.