RSI::RapidCode

Namespaces
namespace	Cartesian
	The Cartesian namespace.
namespace	RealTimeTasks
	The RealTimeTasks namespace.

Classes
class	Axis
	Represents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory parameters, homing, limit switch configuration, motor configuration, position capture, configuring filter (control law) parameters, electronic gearing and access to its NetworkNode. Get or create an Axis object using MotionController::AxisGet. More...
union	FirmwareValue
	Union representing a generic RMP firmware value with multiple data types, stored in 64-bits. More...
class	IO
	The IO object provides an interface to the inputs and outputs of a network node. More...
class	IOPoint
	Represents one specific point: Digital Output, Digital Input, Analog Output, or Analog Input. This class provides a helper interface to any I/O, regardless of where it resides: MotionController, Axis, or NetworkNode. To create an IOPoint, use IOPoint Creation Methods. More...
class	MotionController
	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.. More...
class	MultiAxis
	Represents multiple axes of motion control, allows you to map two or more Axis objects together for error propagation and commanding coordinated, synchronized motion. Create or get a MultiAxis object using MotionController::MultiAxisGet or MotionController::LoadExistingMultiAxis. More...
class	NetworkNode
	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...
class	RapidCodeInterrupt
	Interface for objects which can use interrupts. More...
class	RapidCodeMotion
	The RapidCodeMotion interface is implemented by Axis and MultiAxis . More...
class	RapidCodeObject
	The RapidCode base class. All non-error objects are derived from this class. More...
class	RapidCodeOS
	The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController . More...
class	RapidVector
	A wrapper class for the C++ STL vector class that aims to maintain application binary interface. Provides some of the basic vector operations (with RapidCode naming conventions). More...
class	RsiError
	Represents the error details thrown as an exception by all RapidCode classes. This class contains an error number/type, RSIErrorMessage, and a text message which describes the error. Throwing exceptions can be disabled on all RSI classes. If throwing exceptions is disabled, a log of RsiErrors can be accessed. Inherits from std::exception in C++ and System.Exception in C#. More...
class	RTOS
	Represents the real-time operating system (INtime) when using RMP for Windows. This class provides static methods to start, stop, and restart INtime. More...
class	Trace
	Tracing allows for low level logs to be generated. More...

Enumerations
enum class	INtimeStatus
	INtime status values. More...
enum class	RSIAction
	Action to perform on an Axis. More...
enum class	RSIAnalogOutChannel
	Analog output channels. More...
enum class	RSIAxisAddressType
	Used to get firmware address used in User Limits, Recorders, etc. More...
enum class	RSIAxisGantryType
	How to combine Axis Feedback Positions. More...
enum class	RSIAxisMasterType
	Sources available to a slave Axis for electronic gearing & camming. More...
enum class	RSIAxisPositionInput
	Feedback Positions for each Axis. More...
enum class	RSICacheObject
	Caching data for GUI optimization. More...
enum class	RSICompensatorOutputType
	Compensator output types. More...
enum class	RSIControllerAddressType
	Used to get firmware address used in User Limits, Recorders, etc. More...
enum class	RSIControllerType
	Controller type. More...
enum class	RSIDataType
	Data types for User Limits and other triggers. More...
enum class	RSIErrorMessage
	All possible RSI Error Messages. More...
enum class	RSIEventType
	Event Types or Status Bits. More...
enum class	RSIFilterAlgorithm
	Filter algorithms. More...
enum class	RSIFilterGainIndex
	Filter Gain Table enums for. More...
enum class	RSIFilterGainPIDCoeff
	PID gain coefficients. More...
enum class	RSIFilterGainPIVCoeff
	PIV gain coefficients. More...
enum class	RSIFirmwareLogic
	Logic options for User Limits. More...
enum class	RSIFirmwareStatus
	Status bits used in the firmware. More...
enum class	RSIHomeMethod
enum class	RSIHomeStage
	Predefined Homing Stage sections. More...
enum class	RSIMathBlockOperation
	MathBlock operations. More...
enum class	RSIMotionAttrMask
	Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND. More...
enum class	RSIMotionAttrOutputType
	Types for outputs during motion. More...
enum class	RSIMotionHoldType
	Types for MotionHold attribute. More...
enum class	RSIMotionType
	PT and PVT streaming motion types. More...
enum class	RSIMotorBrakeMode
	Brake modes. More...
enum class	RSIMotorDedicatedIn
	Dedicated Input bits per motor. More...
enum class	RSIMotorDedicatedOut
	Dedicated Output bits per motor. More...
enum class	RSIMotorDisableAction
	Action for when a motor is disabled. More...
enum class	RSIMotorFaultMask
	Mask values for several motor faults. More...
enum class	RSIMotorFeedback
	Encoders per motor. More...
enum class	RSIMotorFeedbackFault
	Feedbacks to use for Feedback Fault action. More...
enum class	RSIMotorGeneralIo
	Motor I/O bit numbers. More...
enum class	RSIMotorIoType
	Possible configurations for Motor I/O. More...
enum class	RSIMotorIoTypeMask
	Possible mask bits for Motor I/O types. More...
enum class	RSIMotorLimitType
	Motor Limits. More...
enum class	RSIMotorStepperPulse
	Pulse A or B. More...
enum class	RSIMotorStepperPulseType
	Stepper pulse type. More...
enum class	RSIMotorType
	Motor Type. More...
enum class	RSIMultiAxisAddressType
	Used to get firmware address used in User Limits, Recorders, etc. More...
enum	RSINetworkEniResult
	NetworkEniGenerate return values. More...
enum class	RSINetworkIndexType
	Network PDO index types for configuring axis input/output mappings. More...
enum class	RSINetworkOutputAddressType
	Network output address types. More...
enum class	RSINetworkStartError
	Network start errors. More...
enum class	RSINetworkStartMode
	Network start modes. More...
enum class	RSINetworkStartupMethod
	Network startup methods. More...
enum class	RSINetworkState
	State of network. More...
enum class	RSINetworkTechnologyType
	Network technology type. More...
enum class	RSINetworkType
	Type of Network topology. More...
enum class	RSINodeType : uint64_t
	Valid Node types. More...
enum class	RSIOperationMode
	DS402 modes of operation. More...
enum class	RSIPathPlanType
	Path motion planning types. More...
enum class	RSIPDOType
	Compensator output types. More...
enum class	RSIProcessorType
	Controller's processor type. More...
enum class	RSISource
	Possible sources that have caused an Error state. More...
enum class	RSIState
enum class	RSITrace
	Trace masks. More...
enum class	RSIUserLimitLogic
	Logic options for User Limits. More...
enum class	RSIUserLimitTriggerType
	Trigger types for UserLimits. More...
enum class	RSIWait
	Waiting for interrupts. More...

Description

{