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rsi.h
1#ifndef _RSI_H
2#define _RSI_H
3
4#include <stdlib.h>
5#include <vector>
6#include <stdio.h>
7#include <string.h>
8#include <math.h>
9#include <exception>
10#include <cstdint>
11#include <cstring>
12
13#include "rsienums.h"
14
15#if defined(_WIN32)
16# if !defined(__INTIME__)
17# define HAS_CARTESIAN_ROBOT 1
18# endif
19# if !defined(RSI_API)
20# if defined(RSIDLL)
21# define RSI_API __declspec(dllexport)
22# else
23# define RSI_API __declspec(dllimport)
24# endif
25# endif
26#elif defined(__linux__)
27# define HAS_CARTESIAN_ROBOT 1
28# if !defined(RSI_API)
29# define RSI_API __attribute__ ((visibility ("default")))
30# endif
31#endif
32
33// Macro for pure virtual definitions
34#define PURE_VIRTUAL = 0
35
37namespace RSI
38{
39
41namespace RapidCode
42{
43
44 // Forward declaration of the implementation class for RapidVector.
45 template<typename Type>
46 class RapidVector;
47
48#if defined(__cplusplus)
49extern "C"
50{
51#endif
52
53
54class MotionController;
55class Axis;
56class MultiAxis;
57class IO;
58class RapidCodeNetworkNode;
59class IOPoint;
60class RTOS;
61
63class StaticInstanceMediator
64{
65private:
66 bool isValid;
67public:
68
69 bool IsValid() { return isValid; }
70
71 void OnDelete() { isValid = false; }
72
73 void OnCreate() { isValid = true; }
74};
75
78
110class RsiError : public std::exception
111{
112public:
114 RSIErrorMessage number;
116 int32_t lineNumber;
118 int32_t objectIndex;
120 bool isWarning;
122 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
123 char text[RSI_ERROR_TEXT_SIZE];
125 char functionName[RSI_ERROR_TEXT_SIZE];
127 char shortText[RSI_ERROR_TEXT_SIZE];
129 char fileName[RSI_ERROR_TEXT_SIZE];
130
131 RsiError() : text{}, functionName{}, shortText{}, fileName{}
132 {
133 number = RSIErrorMessage::RSIMessageOK;
134 lineNumber = -1;
135 isWarning = false;
136 objectIndex = -1;
137 }
146 RsiError(const RsiError& copyFrom)
147 {
148#if defined(_WIN32)
149 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
150 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
151 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
152 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
153#elif defined(__linux__)
154 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
155 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
156 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
157 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
158#endif
159 number = copyFrom.number;
160 lineNumber = copyFrom.lineNumber;
161 isWarning = copyFrom.isWarning;
162 objectIndex = copyFrom.objectIndex;
163 }
164 ~RsiError()
165 {
166 }
167
169 virtual const char* what() const noexcept { return text; }
170};
171
180class RSI_API RapidCodeObject {
181public:
186
187
188
201 virtual const char* const VersionGet() PURE_VIRTUAL;
202
204 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
206 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
208 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
210 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
212 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
216 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
217
220 virtual int32_t NumberGet() PURE_VIRTUAL;
222
227
228
229
230
256 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
257
271 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
272
285 virtual void ErrorLogClear() PURE_VIRTUAL;
286
305 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
306
308 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
309
311 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
312
314 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
316
321
322
337 virtual void Trace(bool state) PURE_VIRTUAL;
338
353 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
354
355
376 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
377
393 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
394
408 virtual void TraceMaskClear() PURE_VIRTUAL;
409
424 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
425
438 virtual void TraceFileClose() PURE_VIRTUAL;
439
454 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
455
456
457
458
460};
461
463typedef union
464{
465 bool Bool;
466 int8_t Int8;
467 uint8_t UInt8;
468 int16_t Int16;
469 uint16_t UInt16;
470 int32_t Int32;
471 uint32_t UInt32;
472 float Float;
473 double Double;
474 int64_t Int64;
475 uint64_t UInt64;
476} FirmwareValue;
477
479
493class RSI_API RapidCodeOS {
494public:
495
500
513 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
514
533 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
534
544 virtual int32_t TimerCountGet() PURE_VIRTUAL;
545
554 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
555
556
568 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
569
581 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
582
584};
585
587
590class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
591public:
595
597 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
598
599
621 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
622
642 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
643
664 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
665
666
687 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
688
690 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
691
693 virtual void InterruptWake() PURE_VIRTUAL;
694
696 virtual void InterruptMaskClear() PURE_VIRTUAL;
697
699 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
700
702 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
703
705 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
706
708 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
709
710
723 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
724
725
737 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
738
744 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
745
781
783 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
784
790 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
791};
792
796class RSI_API MotionController : public virtual RapidCodeInterrupt {
797protected:
798 MotionController();
799 StaticInstanceMediator* _mediator;
800
801public:
802
803 // Static functions or attributes should be grouped together.
808
810 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
811
813 static inline constexpr uint32_t NetworkSyncGroupRecoverTimeoutMillisecondsDefault = 5000;
814
816 static inline constexpr uint32_t AxisCountMaximum = 128;
817
819 static inline constexpr uint32_t MotionControllerCountMaximum = 2;
820
822 static inline constexpr uint32_t MotionCountMaximum = 128;
823
825 static inline constexpr uint32_t NetworkNodeCountMaximum = 128;
826
828 // Must equal MAX_SYNC_GROUPS in RMPNetwork.h (static-asserted in motioncontroller.cpp).
829 static inline constexpr uint32_t NetworkSyncGroupCountMaximum = 8;
830
832 static inline constexpr uint32_t RecorderCountMaximum = 128;
833
835 static inline constexpr uint32_t CompensatorCountMaximum = 128;
836
838 static inline constexpr uint32_t MathBlockCountMaximum = 128;
839
841 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
842
849 static inline constexpr double SampleRateDefault = 1000.0;
850
860 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
861
863
864 // Static functions or attributes should be grouped together.
869
871 struct CreationParameters
872 {
877
882 static inline constexpr int32_t ControllerIndexDefault = 0;
883
888 static inline constexpr uint32_t PathLengthMaximum = 256;
889
895 static inline constexpr int32_t CpuAffinityDefault = -1;
896
902 static inline constexpr char NodeNameDefault[] = "NodeA";
903
908 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
909
914 static inline constexpr int32_t RmpThreadPriorityRange = 8;
915
920 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
921
926 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
927
932 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
934
935
940
945 CreationParameters()
946 {
947 ControllerIndex = ControllerIndexDefault;
948 std::memset(RmpPath, '\0', PathLengthMaximum);
949 std::memset(NicPrimary, '\0', PathLengthMaximum);
950 std::memset(NicSecondary, '\0', PathLengthMaximum);
951#if defined(_WIN32)
952 std::memset(NodeName, '\0', PathLengthMaximum);
953 std::memcpy(NodeName, NodeNameDefault, sizeof(NodeNameDefault));
954#elif defined(__linux__)
955 CpuAffinity = CpuAffinityDefault;
956 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
957#endif
958 }
959
960
965
972 int32_t ControllerIndex;
973
978 char RmpPath[PathLengthMaximum];
979
1019 char NicPrimary[PathLengthMaximum];
1020
1025 char NicSecondary[PathLengthMaximum];
1027
1028 // Control which platform specific parameters are available
1029#if defined(_WIN32) && defined(__linux__)
1030 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
1031#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
1032 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
1033#endif //defined(_WIN32) && defined(__linux__)
1034#if defined(_WIN32) || defined(DOXYGEN)
1035
1040
1045 char NodeName[PathLengthMaximum];
1046
1048#endif //defined(_WIN32)
1049#if defined(__linux__) || defined(DOXYGEN)
1050
1055
1065 int32_t CpuAffinity;
1066
1077 int32_t RmpThreadPriorityMax;
1078
1080# endif // defined(__linux__)
1081 };
1082
1093 static MotionController* Create(CreationParameters* creationParameters);
1094
1110 static MotionController* Get(int32_t controllerIndex = CreationParameters::ControllerIndexDefault);
1111
1112#if defined(_WIN32)
1127 static MotionController* Get(const char* const nodeName);
1128
1155 static MotionController* CreateFromSoftware();
1156
1161 static MotionController* CreateFromSoftware(const char* const RtaPath);
1162
1168 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1169
1196 static MotionController* Create();
1197#endif // defined(_WIN32)
1198
1203 static MotionController* CreateFromFile(const char* const fileName);
1205
1210
1226 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1227
1242 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1243
1261 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1262
1277 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1278
1294 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1295
1318 virtual void Delete(void) PURE_VIRTUAL;
1320
1325
1333 virtual void Reset() PURE_VIRTUAL;
1334
1345 virtual void Refresh() PURE_VIRTUAL;
1346
1354 virtual void Shutdown() PURE_VIRTUAL;
1355
1364 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1366
1371
1394 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1395
1410 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1411
1422 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1423
1427 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1428
1429
1431
1436
1437
1448 virtual CreationParameters CreationParametersGet() PURE_VIRTUAL;
1449
1472 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1473
1492 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1493
1494
1496 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1497
1499 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1500
1502 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1503
1504
1505
1506
1528 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1529
1555 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1556
1560 virtual double SampleRateGet() PURE_VIRTUAL;
1561
1579 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1580
1598 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1599
1606 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1607
1610 virtual bool IsLicensed() PURE_VIRTUAL;
1611
1613 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1614
1616 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1617
1619 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1620
1622 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1623
1648 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1649
1666 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1667
1693 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1694
1718 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1719
1722 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1723
1740 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1741
1756 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1758
1763
1781 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1782
1800 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1801
1803 virtual bool HasMechaWare() PURE_VIRTUAL;
1804
1828 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1829
1830
1848 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1849
1875 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1876
1891 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1892
1893
1894
1911 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1912
1938 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1939
1958 virtual uint64_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1959
1960
1961
1962
1985 virtual uint64_t HostAddressGet(uint64_t firmwareAddress) PURE_VIRTUAL;
1986
1987
1988
2011 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
2012
2013
2014
2015
2024 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
2025
2026
2027
2036 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
2037
2052 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
2053
2071 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2072
2073
2086 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2087
2092 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2093
2107 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2108
2109
2110
2126 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2128
2133
2135 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2136
2138 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2139
2154 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2155
2203 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2204
2225 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2226
2233 virtual void NetworkStart() PURE_VIRTUAL;
2234
2239 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2240
2247 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2248
2253 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2254
2265 virtual void NetworkShutdown() PURE_VIRTUAL;
2266
2269 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2270
2287
2298 virtual NetworkStatus NetworkStatusGet() PURE_VIRTUAL;
2299
2331
2351 virtual int32_t NetworkSyncGroupCountGet() PURE_VIRTUAL;
2352
2370 virtual NetworkSyncGroupStatus NetworkSyncGroupStatusGet(int32_t groupId) PURE_VIRTUAL;
2371
2415 virtual void NetworkSyncGroupRecover(int32_t groupId, uint32_t timeoutMilliseconds = NetworkSyncGroupRecoverTimeoutMillisecondsDefault) PURE_VIRTUAL;
2416
2418 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2419
2421 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2422
2424 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2425
2492 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2493
2519 virtual RSIDataType NetworkInputDataTypeGet(int32_t index) PURE_VIRTUAL;
2520
2523 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2524
2527 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2528
2532 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2533
2558 virtual FirmwareValue NetworkInputFirmwareValueGet(int32_t index) PURE_VIRTUAL;
2559
2560
2561
2569 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2570
2574 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2575
2578 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2579
2580
2624 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2625
2649 virtual RSIDataType NetworkOutputDataTypeGet(int32_t index) PURE_VIRTUAL;
2650
2652 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2653
2655 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2656
2672 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2673
2690 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2691
2710 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2711
2717 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2718
2729 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2730
2746 virtual FirmwareValue NetworkOutputIntendedFirmwareValueGet(int32_t index) PURE_VIRTUAL;
2747
2759 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2760
2771 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2772
2773
2774
2775
2792 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2793
2820 virtual void NetworkOutputOverrideFirmwareValueSet(int32_t index, FirmwareValue value) PURE_VIRTUAL;
2821
2834 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2835
2850 virtual FirmwareValue NetworkOutputOverrideFirmwareValueGet(int32_t index) PURE_VIRTUAL;
2851
2866 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2867
2886 virtual FirmwareValue NetworkOutputSentFirmwareValueGet(int32_t index) PURE_VIRTUAL;
2887
2891 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2892
2894 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2895
2900 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2901
2903 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2904
2906 virtual bool NetworkTimingEnableGet() PURE_VIRTUAL;
2907
2909 virtual void NetworkTimingClear() PURE_VIRTUAL;
2910
2912 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2913
2915 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2916
2918 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2919
2921 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2922
2924 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2925
2927 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2928
2930 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2931
2933 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2935
2940
2957 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2958
2977 virtual void InterruptWake() PURE_VIRTUAL;
2978
3006 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
3007
3033 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
3034
3054 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
3055
3057 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
3058
3069 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
3070
3072 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
3073
3086 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
3087
3098 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
3099
3109 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
3110
3137
3138 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
3140
3145
3146
3147
3166 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
3167
3185 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
3186
3203 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
3204
3206 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
3207
3224 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
3225
3227 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
3228
3244 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
3245
3247 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
3248
3265 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
3266
3268 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
3269
3270
3276 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
3277
3291
3297 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
3298
3305 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
3306
3312 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
3313
3320 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
3321
3328 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
3329
3338 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
3339
3355 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
3356
3358 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
3359
3376 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
3377
3379 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
3380
3394 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
3395
3397 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
3398
3413 virtual void RecorderStart() PURE_VIRTUAL;
3414
3416 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
3417
3434 virtual void RecorderStop() PURE_VIRTUAL;
3435
3437 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
3438
3439
3440
3456 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
3457
3459 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
3460
3475 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
3476
3496 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
3497
3499 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
3500
3517 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3518
3520 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3521
3540 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3541
3543 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3544
3546 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3547
3566 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3567
3569 virtual FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t index) PURE_VIRTUAL;
3570
3572 virtual FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3573
3594 virtual FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3595
3613 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3614
3616 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3617
3632 virtual void RecorderReset() PURE_VIRTUAL;
3633
3635 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3636
3648 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3649
3666 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3668
3673
3674
3675
3676
3701 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3702
3722 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3723
3734 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3735
3755 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3756
3770 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3771
3797 virtual void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, int32_t secondInputAxisNumber, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3798
3828 virtual void CompensatorConfigSet(int32_t compensatorNumber, Axis* firstInputAxis, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, Axis* secondInputAxis, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, Axis* outputAxis, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3829
3850 virtual void CompensatorConfigSet(int32_t compensatorNumber, int32_t inputAxisNumber, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3851
3872 virtual void CompensatorConfigSet(int32_t compensatorNumber, Axis* inputAxis, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, Axis* outputAxis, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3873
3885 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3886
3898 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3899
3919 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3920
3921
3922
3923
3924
3925
3937
3938 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3939
3949 virtual void CompensatorDisable(int32_t compensatorNumber, bool force = false) PURE_VIRTUAL;
3950
3957 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3958
3960
3965
3985 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3986
4006 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
4007
4027 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
4028
4031 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
4032
4034 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
4035
4037 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
4038
4040 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
4041
4043 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
4044
4046 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
4047
4072 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
4073
4095 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
4096
4098 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
4099
4101 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
4102
4104 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
4105
4107 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
4108
4110 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
4111
4113 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
4114
4141 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
4142
4145 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
4146
4149 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
4150
4153 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
4154
4170 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
4171
4173 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
4174
4176 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
4177
4179 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
4180
4182 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
4183
4185 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
4186
4188 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
4189
4191 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
4192
4194 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
4195
4197 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
4198
4199
4201 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
4202
4223 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
4224
4245 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
4246
4248 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
4249
4264 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
4265
4277 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
4278
4287
4288 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
4289
4307 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
4308
4310 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
4312
4313
4318
4328 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
4329
4340 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
4341
4360
4362 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
4363
4365 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
4366
4368 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
4369
4371
4372
4377
4379 RapidCodeOS* OS;
4380
4382};
4383
4387class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
4388public:
4389
4394
4396 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
4397
4399
4400
4405
4407 virtual bool Exists() PURE_VIRTUAL;
4408
4410 virtual RSINodeType TypeGet() PURE_VIRTUAL;
4411
4413 virtual bool IsEtherCAT() PURE_VIRTUAL;
4414
4416 virtual bool IsSynqNet() PURE_VIRTUAL;
4417
4419
4424
4432 virtual bool HasIO() PURE_VIRTUAL;
4433
4443 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
4444
4454 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
4455
4464 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
4465
4475 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
4476
4486 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
4487
4496 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
4497
4499
4503
4511 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
4512
4520 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
4521
4529 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
4530
4538 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4539
4540
4542 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4543
4545 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4546
4548 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4549
4551 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4552
4554 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4555
4557 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4558
4571 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4572
4585 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4586
4599 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4600
4613 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4614
4626 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4627
4639 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4640
4652 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4653
4665 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4666
4670 virtual int32_t DigitalInNetworkIndexGet(int32_t digitalInNumber) PURE_VIRTUAL;
4671
4675 virtual int32_t DigitalOutNetworkIndexGet(int32_t digitalOutNumber) PURE_VIRTUAL;
4676
4680 virtual int32_t AnalogInNetworkIndexGet(int32_t analogChannel) PURE_VIRTUAL;
4681
4685 virtual int32_t AnalogOutNetworkIndexGet(int32_t analogChannel) PURE_VIRTUAL;
4686
4705 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4706
4722 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4723
4737 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4738
4757 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4758
4774 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4775
4787 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4788
4798 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4799
4801 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4802
4804 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4805
4818 virtual const char* const NameGet() PURE_VIRTUAL;
4819
4837 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4838
4856 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4857
4859 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4860
4862 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4863
4865 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4866
4868 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4869
4871 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4872
4874 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4875
4892
4903 virtual Status StatusGet() PURE_VIRTUAL;
4904
4914 virtual void StatusClear() PURE_VIRTUAL;
4915
4923 struct Config {
4924 uint32_t SyncGroup;
4925 };
4926
4938 virtual Config ConfigGet() PURE_VIRTUAL;
4939
4966 virtual void ConfigSet(const Config& config) PURE_VIRTUAL;
4967};
4968
4970
4973class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4974public:
4975
4977 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4978
4980 static inline constexpr int32_t WaitForever = -1;
4981
4987
4989 MotionController* rsiControl;
4990
4992
4993
4997
5015 virtual int32_t NumberGet() PURE_VIRTUAL;
5016
5033 virtual int32_t AxisCountGet() PURE_VIRTUAL;
5034
5038
5063 virtual void TriggeredModify() PURE_VIRTUAL;
5064
5091 virtual void Stop() PURE_VIRTUAL;
5092
5117 virtual void Resume() PURE_VIRTUAL;
5118
5143 virtual void EStop() PURE_VIRTUAL;
5144
5165 virtual void EStopAbort() PURE_VIRTUAL;
5166
5183 virtual void EStopModify() PURE_VIRTUAL;
5184
5187 virtual void EStopModifyAbort() PURE_VIRTUAL;
5188
5210 virtual void Abort() PURE_VIRTUAL;
5211
5238 virtual void ClearFaults() PURE_VIRTUAL;
5239
5278 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState = false) PURE_VIRTUAL;
5279
5290 virtual bool AmpEnableGet() PURE_VIRTUAL;
5291
5311
5312 virtual void Map() PURE_VIRTUAL;
5313
5331 virtual void Unmap() PURE_VIRTUAL;
5332
5337 virtual bool IsMapped() PURE_VIRTUAL;
5338
5355 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
5356
5375 virtual double FeedRateGet() PURE_VIRTUAL;
5376
5380
5381
5382
5383
5403 virtual RSIState StateGet() PURE_VIRTUAL;
5404
5432 virtual RSISource SourceGet() PURE_VIRTUAL;
5433
5458 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
5459
5488 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds = WaitForever) PURE_VIRTUAL;
5489
5510 virtual bool MotionDoneGet() PURE_VIRTUAL;
5511
5534 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
5535
5550 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
5551
5555
5584 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
5585
5599 virtual void InterruptWake() PURE_VIRTUAL;
5600
5604
5620 virtual double StopTimeGet() PURE_VIRTUAL;
5621
5637 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
5638
5654 virtual double EStopTimeGet() PURE_VIRTUAL;
5655
5671 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
5672
5689 virtual double MotionDelayGet() PURE_VIRTUAL;
5690
5711 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
5712
5733 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5734
5752 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5753
5755 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5756
5758 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5759
5774 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5775
5783 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5784
5804 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5805
5838 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5839
5851 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5852
5871
5872 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5873
5890 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5891
5910 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5911
5935 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5936
5959 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5960
5977 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5978
5995 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5996
6013
6014 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
6015
6032 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
6033
6035 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
6036
6038 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
6039
6056 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
6057
6074 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
6075
6091 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
6092
6108 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
6109
6125 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
6126
6142 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
6143
6145 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
6146
6171
6172 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
6173
6192 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
6193
6210
6211 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
6212
6216
6217
6218
6254 virtual void MovePT(RSIMotionType type, const double* const position, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
6255
6293 virtual void MovePVT(const double* const position, const double* const velocity, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
6294
6324 virtual 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) PURE_VIRTUAL;
6325
6362 virtual void MovePTF(const double* const position, const double* const time, const double* const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
6363
6404 virtual 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) PURE_VIRTUAL;
6405
6410 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
6411
6439 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
6440
6445 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
6446
6464 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
6465
6484 virtual void StreamingOutputsClear() PURE_VIRTUAL;
6485
6507 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
6508};
6509
6510
6515class RSI_API Axis : public virtual RapidCodeMotion{
6516public:
6517
6518 friend class MotionController;
6519 friend class MultiAxis;
6520
6521
6526
6528 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
6529
6531 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
6532
6534
6535
6540
6545 RapidCodeNetworkNode* NetworkNode;
6546
6547
6549
6554
6592 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
6593
6615 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
6616
6639 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
6640
6648
6649 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6650
6660 virtual void MoveSCurve(double position) PURE_VIRTUAL;
6661
6665 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6666
6670 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
6671
6706 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
6707
6745 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
6746
6788 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6789
6796 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
6797
6803 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6805
6810
6835 virtual void PositionSet(double position) PURE_VIRTUAL;
6836
6855 virtual double ActualPositionGet() PURE_VIRTUAL;
6856
6878 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6879
6896 virtual double CompensationPositionGet() PURE_VIRTUAL;
6897
6910 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6911
6923 virtual double TargetPositionGet() PURE_VIRTUAL;
6924
6944 virtual double CommandPositionGet() PURE_VIRTUAL;
6945
6977 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6978
7002 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
7003
7020 virtual double OriginPositionGet() PURE_VIRTUAL;
7021
7044 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
7045
7066 virtual double PositionErrorGet() PURE_VIRTUAL;
7067
7089 virtual double CommandVelocityGet() PURE_VIRTUAL;
7090
7113 virtual double ActualVelocityGet() PURE_VIRTUAL;
7114
7135 virtual double CommandAccelGet() PURE_VIRTUAL;
7136
7138 virtual double CommandJerkGet() PURE_VIRTUAL;
7139
7160 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
7161
7183 virtual double UserUnitsGet() PURE_VIRTUAL;
7184
7207 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
7208
7210 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
7211
7213 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
7214
7234 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
7236
7241
7262 virtual void Home(bool moveToZero = true) PURE_VIRTUAL;
7263
7282
7283 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
7284
7303
7304 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
7305
7326
7327 virtual double HomeOffsetGet() PURE_VIRTUAL;
7328
7373 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
7374
7393 virtual double HomeVelocityGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
7394
7415 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
7416
7421 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
7422
7438 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
7439
7455 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
7456
7475 virtual double HomeAccelerationGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
7476
7496
7497 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
7498
7502 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
7503
7521 virtual double HomeDecelerationGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
7522
7541
7542 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
7543
7547 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
7548
7567 virtual double HomeJerkPercentGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
7568
7588 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
7589
7594 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
7595
7615 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
7616
7635 virtual bool HomeStateGet() PURE_VIRTUAL;
7636
7649 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
7650
7655 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7656
7658 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7659
7661 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7662
7665 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7666
7688
7689 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
7690
7710 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
7711
7725 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
7726
7738 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
7740
7746
7748 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
7749
7751 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7753
7758 // reads active configuration to report state
7759
7783
7784 virtual bool NegativeLimitGet() PURE_VIRTUAL;
7785
7809 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7810
7839 virtual bool HomeLimitGet() PURE_VIRTUAL;
7840
7868 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7869
7890 virtual bool AmpFaultGet() PURE_VIRTUAL;
7891
7915 virtual bool AmpEnableGet() PURE_VIRTUAL;
7916
7941 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7942
7967 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7968
7991 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7992
8014 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
8015
8038 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
8039
8061 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
8063
8068
8089 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
8090
8108 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
8109
8130 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
8131
8149 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
8150
8171
8172 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
8173
8192 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
8193
8212 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
8213
8236 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
8237
8256 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
8257
8274 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
8276
8281
8295 virtual double EStopDecelerationGet() PURE_VIRTUAL;
8296
8311 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
8312
8323 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
8324
8342 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
8343
8353 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
8354
8372 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
8373
8384 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
8385
8403 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
8404
8406 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
8407
8409 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
8410
8430 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
8431
8452 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
8454
8459
8461 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
8462
8464 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
8465
8467 virtual double DefaultVelocityGet() PURE_VIRTUAL;
8468
8470 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
8471
8473 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
8474
8476 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
8477
8479 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
8480
8482 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
8483
8485 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
8486
8488 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
8489
8491 virtual double DefaultPosition1Get() PURE_VIRTUAL;
8492
8494 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
8495
8497 virtual double DefaultPosition2Get() PURE_VIRTUAL;
8498
8500 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
8501
8503 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
8504
8506 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
8508
8512 // /@{
8513
8536 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
8537
8560 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
8561
8583 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
8584
8606 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
8607
8628 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
8629
8650 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
8651
8676 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
8677
8701 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
8702
8728 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
8729
8750 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
8751
8773 virtual double HomeDurationGet() PURE_VIRTUAL;
8774
8797 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8798
8827 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8828
8855 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8856
8879 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8880
8902 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8903
8925 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8926
8949 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8950
8975 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8976
9001 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
9002
9026 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
9027
9051 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
9052
9075 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
9076
9099
9100 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
9101
9126 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
9127
9152 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
9153
9174 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
9175
9199 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
9200
9223 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
9224
9247 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
9248
9274 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
9275
9299 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
9300
9323 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
9324
9347 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
9348
9372 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
9373
9397 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
9398
9421 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
9422
9445 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
9446
9472 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
9473
9498 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
9499
9523 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
9524
9546 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
9547
9569 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
9570
9592 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
9593
9595 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
9596
9598 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
9599
9610 virtual RSIAction SyncGroupFaultActionGet() PURE_VIRTUAL;
9611
9647 virtual void SyncGroupFaultActionSet(RSIAction action) PURE_VIRTUAL;
9648
9664 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
9665
9679 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
9680
9681 // common limit methods
9682
9684 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
9685
9687 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
9688
9690 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
9691
9693 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
9694
9696 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
9697
9699 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
9700
9702 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
9703
9705 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
9707
9712
9726 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
9727
9741 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
9742
9756 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
9757
9773
9774 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
9775
9789 virtual double VelocityToleranceGet() PURE_VIRTUAL;
9790
9804 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
9805
9820 virtual double SettlingTimeGet() PURE_VIRTUAL;
9821
9836 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9837
9854 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9855
9872
9873 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9874
9891 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9892
9908 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9909
9926 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9927
9943 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9945
9950
9967 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9968
9984 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9985
10002 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
10003
10021 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
10022
10040
10041 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
10042
10058 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
10059
10075 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
10076
10077
10094 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
10095
10111 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
10112
10130 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
10131
10133 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
10134
10136 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
10137
10139 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
10140
10142 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
10143
10145 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
10146
10147
10149 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
10150
10152 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
10153
10171 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
10172
10174 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
10175
10177 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
10178
10200 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10201
10203 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
10204
10206 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
10207
10209 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
10210
10212 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
10213
10215 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
10216
10219 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
10220
10222 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
10223
10225 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
10226
10245 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
10246
10266 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
10267
10287 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
10288
10314 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
10316
10321
10342 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10343
10347 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10348
10367 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10368
10385 virtual void GearingDisable() PURE_VIRTUAL;
10386
10388 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
10389
10391 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
10392
10394 virtual bool GearingEnableGet() PURE_VIRTUAL;
10395
10413 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
10414
10427 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
10429
10434
10451 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
10452
10467 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
10468
10485 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
10486
10504 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
10505
10523 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
10524
10546 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
10547
10577 virtual void MoveCamCubic(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, const double* const gearRatios, int32_t pointCount) PURE_VIRTUAL;
10578
10595
10596 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
10598
10603
10616 virtual double BacklashWidthGet() PURE_VIRTUAL;
10617
10630 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
10631
10644 virtual double BacklashRateGet() PURE_VIRTUAL;
10645
10658 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
10659
10660
10671 virtual double BacklashValueGet() PURE_VIRTUAL;
10673
10678
10706 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
10707
10732 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
10733
10759 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10760
10783 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10784
10787 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10788
10792 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10793
10828 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10829
10858 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10859
10876 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10877
10879 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10880
10893 virtual double FilterLowPassGet() PURE_VIRTUAL;
10894
10910 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10911
10930 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10931
10932
10934 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10935
10936
10938 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10939
10941 virtual bool IsTuneable() PURE_VIRTUAL;
10942
10959 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10960
10976 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10977
10996 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10997
11013 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
11014
11032 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
11033
11052 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
11053
11072 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
11073
11089 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
11090
11111 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
11112
11114 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
11115 //virtual RSIFilterPostFilterSection PostFilterSection;
11117
11122
11142 virtual const char* const UserLabelGet() PURE_VIRTUAL;
11143
11164 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
11166
11171
11193 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
11194
11213 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
11214
11234 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
11235
11254 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
11255
11275 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
11276
11295 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
11296
11317 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
11319
11320
11345 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
11346
11381 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
11382
11390 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
11391
11398 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
11399
11423 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
11424
11448 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
11449
11458 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
11459
11469 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
11470
11477 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
11478
11480};
11481
11485class RSI_API MultiAxis : public virtual RapidCodeMotion {
11486public:
11487
11491
11505 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
11506
11509 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
11510
11523 virtual void AxisRemoveAll() PURE_VIRTUAL;
11524
11528
11544 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
11545
11565 virtual const char* const UserLabelGet() PURE_VIRTUAL;
11566
11587 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
11588
11592
11607 virtual double VectorVelocityGet() PURE_VIRTUAL;
11608
11624 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
11625
11640 virtual double VectorAccelerationGet() PURE_VIRTUAL;
11641
11664 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
11665
11680 virtual double VectorDecelerationGet() PURE_VIRTUAL;
11681
11704 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
11705
11720 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
11721
11744 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
11745
11769 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
11770
11773 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
11774
11778
11798
11799 virtual double PathTimeSliceGet() PURE_VIRTUAL;
11800
11821
11822 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
11823
11848 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
11849
11852 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
11853
11870 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11871
11880
11881 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11882
11891
11892 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11893
11912 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11913
11934 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11935
11955 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11956
11975 virtual void PathListEnd() PURE_VIRTUAL;
11976
11993 virtual void PathMotionStart() PURE_VIRTUAL;
11994
11998
12016 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
12017
12020 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
12021
12051 virtual void MoveSCurve(const double* const position, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct) PURE_VIRTUAL;
12052
12063 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
12064
12069 virtual void MoveSCurve(const double* const position, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct, const double* const finalVel) PURE_VIRTUAL;
12070
12085 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
12086
12090 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
12091
12113 virtual void MoveRelative(const double* const relativePosition, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct) PURE_VIRTUAL;
12114
12125 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
12126
12131 virtual void MoveRelative(const double* const relativePosition, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct, const double* const finalVel) PURE_VIRTUAL;
12132
12149 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
12150
12167 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
12168
12186 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
12187
12189 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
12190
12204 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
12205
12219 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
12220
12230 virtual bool AmpEnableGet() PURE_VIRTUAL;
12231
12232
12233};
12234
12240class RSI_API IOPoint : public virtual RapidCodeObject {
12241public:
12246
12263 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
12264
12281 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
12282
12298 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
12299 // use NetworkNode*
12300 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
12301
12312 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
12313
12327 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
12328
12346 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
12347
12364 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
12365
12381 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
12382 // use NetworkNode*
12383 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
12384
12385
12398 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
12399
12413 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
12414
12429 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
12430 // use RapidCodeNetworkNode*
12431 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
12432
12447 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
12448 // use RapidCodeNetworkNode*
12449 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
12450
12452
12456
12459 virtual uint64_t AddressGet() PURE_VIRTUAL;
12460
12463 virtual int32_t MaskGet() PURE_VIRTUAL;
12464
12467 virtual bool IsDigital() PURE_VIRTUAL;
12468
12469
12472 virtual bool IsOutput() PURE_VIRTUAL;
12473
12477
12481 virtual bool Get() PURE_VIRTUAL;
12482
12489 virtual void Set(bool state) PURE_VIRTUAL;
12490
12494
12498 virtual double ValueGet() PURE_VIRTUAL;
12499
12503 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
12504};
12505
12509class RSI_API RTOS {
12510
12511public:
12512#if defined(_WIN32)
12517
12520 static INtimeStatus INtimeStatusGet();
12521
12526 static INtimeStatus INtimeStatusGet(const char* const nodeName);
12527
12530 static INtimeStatus INtimeStart();
12531
12536 static INtimeStatus INtimeStart(const char* const nodeName);
12537
12540 static INtimeStatus INtimeStop();
12541
12546 static INtimeStatus INtimeStop(const char* const nodeName);
12547
12550 static INtimeStatus INtimeRestart();
12551
12556 static INtimeStatus INtimeRestart(const char* const nodeName);
12557
12560 static const char* const INtimeCatalogRMPGet();
12561
12564 static const char* const INtimeCatalogRMPNetworkGet();
12565
12568 static uint32_t INtimeNodeCountGet();
12569
12573 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
12574
12578 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
12580#endif // _WIN32
12581};
12582
12584class RSI_API Trace
12585{
12586public:
12591
12604 static void MaskSet(RSITrace mask);
12605
12621 static void MaskOnSet(RSITrace maskOn);
12622
12623
12643 static bool MaskOnGet(RSITrace maskOn);
12644
12660 static void MaskOffSet(RSITrace maskOff);
12661
12674 static void MaskClear();
12675
12690 static int32_t FileSet(const char* const fileName);
12691
12704 static void FileClose();
12705
12720 static void InjectMessage(RSITrace traceLevel, const char* const message);
12721
12723};
12724
12726
12728
12732class RSI_API IO : public virtual RapidCodeObject {
12733public:
12734
12735 friend class MotionController;
12736
12741
12743 RapidCodeNetworkNode* NetworkNode;
12745 MotionController* rsiControl;
12746
12748
12753
12754
12787 virtual bool IOExists() PURE_VIRTUAL;
12788
12805 virtual int32_t NumberGet() PURE_VIRTUAL;
12807
12812
12813
12814
12844 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
12845
12878 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
12879
12910 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12911
12934 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12935
12967 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12968
13000 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
13002
13012 virtual const char* const UserLabelGet() PURE_VIRTUAL;
13013
13020 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
13021};
13022
13023#if defined(__cplusplus)
13024}
13025#endif
13026
13027template<typename ContainerClass>
13028class RSI_API RapidVectorIterator
13029{
13030public:
13032 typedef typename ContainerClass::ValueType ValueType;
13033
13035 typedef typename ContainerClass::PointerType PointerType;
13036
13039 ValueType& operator*();
13040
13043 const ValueType& operator*() const;
13044
13047 RapidVectorIterator& operator++();
13048
13051 RapidVectorIterator operator++(int);
13052
13055 bool operator==(const RapidVectorIterator&) const;
13056
13059 bool operator!=(const RapidVectorIterator&) const;
13060
13062 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
13063
13065 RapidVectorIterator(const RapidVectorIterator&) = default;
13066
13068 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
13069
13071 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
13072
13074 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
13075private:
13076 PointerType pointer;
13077 PointerType start, end;
13078 void VerifyPointer() const;
13079};
13080
13081// Forward declaration of the RapidVectorImplementation class.
13082template<typename Type>
13083class RapidVectorImplementation;
13084
13087
13100template<typename Type>
13101class RSI_API RapidVector
13102{
13103private:
13104 // The pointer to the implementation.
13105 RapidVectorImplementation<Type>* pImpl;
13106public:
13110 Type& operator[](const size_t index);
13111
13115 const Type& operator[](const size_t index) const;
13116
13120 Type& At(const size_t index);
13121
13125 const Type& At(const size_t index) const;
13126
13129 void PushBack(const Type& element);
13130
13133 void PushBack(Type&& element);
13134
13137 const size_t Size() const;
13138
13140 void Clear();
13141
13143 void PopBack();
13144
13147 Type& Front();
13148
13151 const Type& Front() const;
13152
13155 Type& Back();
13156
13159 const Type& Back() const;
13160
13163 void Reserve(const size_t capacity);
13164
13166 RapidVector();
13167
13169#if defined(SWIG) && defined(__linux__)
13170 // SWIG 4.3.0 on Linux cannot parse the complex SFINAE template syntax
13171 // This constructor is ignored via %ignore in the .i files anyway
13172 explicit RapidVector(const size_t size);
13173#elif defined(_WIN32)
13174 template<typename = typename std::enable_if_t<std::is_default_constructible_v<Type>>>
13175 explicit RapidVector(const size_t size);
13176#else
13177 template<typename UType = Type, typename Enable = typename std::enable_if<std::is_default_constructible<UType>::value>::type>
13178 explicit RapidVector(const size_t size);
13179#endif
13180
13182 RapidVector(RapidVectorImplementation<Type>*);
13183
13185 ~RapidVector();
13186
13188 RapidVector(const RapidVector& other);
13189
13191 RapidVector& operator=(const RapidVector& other);
13192
13194 RapidVector(RapidVector&& other) noexcept;
13195
13197 RapidVector& operator=(RapidVector&& other) noexcept;
13198
13199 typedef Type* PointerType;
13200 typedef Type ValueType;
13201
13203 typedef RapidVectorIterator<RapidVector> Iterator;
13204
13207 Iterator begin() noexcept;
13208
13211 Iterator begin() const noexcept;
13212
13216 Iterator end() const noexcept;
13217};
13218
13220
13221} // namespace RapidCode
13222
13223} // namespace RSI
13224
13225#endif // _RSI_H
RSI::RapidCode::Axis::NetworkIndexGet
uint32_t NetworkIndexGet(RSINetworkIndexType indexType)
Get the PDO array index for an axis signal mapping.
RSI::RapidCode::Axis::FilterCoeffSet
void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue)
Set a filter coefficient (ex: Kp, Ki, Kd).
RSI::RapidCode::Axis::HardwareNegLimitActionSet
void HardwareNegLimitActionSet(RSIAction action)
Set the action that will occur when the Hardware Negative Limit Event triggers.
RSI::RapidCode::Axis::ErrorLimitDurationSet
void ErrorLimitDurationSet(double seconds)
Sets the duration required before the Position Error Limit event triggers.
RSI::RapidCode::Axis::PositionErrorGet
double PositionErrorGet()
Get the current position error.
RSI::RapidCode::Axis::HomeTravelDistanceSet
void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel)
Set the max travel used in a specific Homing Stage.
RSI::RapidCode::Axis::HomeLimitGet
bool HomeLimitGet()
Get the current state of the Home limit.
RSI::RapidCode::Axis::AddressGet
uint64_t AddressGet(RSIAxisAddressType addressType)
Get the an address for some location on the Axis.
RSI::RapidCode::Axis::EncoderFaultTriggerGet
RSIMotorFeedbackFault EncoderFaultTriggerGet()
Get the encoders which are used to generate encoder faults.
RSI::RapidCode::Axis::AmpFaultActionGet
RSIAction AmpFaultActionGet()
Get the Amp Fault action.
RSI::RapidCode::Axis::FrameBufferSizeGet
int32_t FrameBufferSizeGet()
RSI::RapidCode::Axis::SettlingTimeGet
double SettlingTimeGet()
Get the Settling time.
RSI::RapidCode::Axis::TriggeredModifyDecelerationSet
void TriggeredModifyDecelerationSet(double decel)
Set the deceleration rate for an Triggered Modify Event.
RSI::RapidCode::Axis::HomeSlowVelocitySet
void HomeSlowVelocitySet(double velocity)
Set the slow home velocity.
RSI::RapidCode::Axis::CommandPositionGet
double CommandPositionGet()
Get the current command position.
RSI::RapidCode::Axis::BrakeApplyDelayGet
double BrakeApplyDelayGet()
Get the delay time for the brake to be applied.
RSI::RapidCode::Axis::DigitalOutputsGet
uint32_t DigitalOutputsGet()
Get all 32 digital output bits at once for this axis.
RSI::RapidCode::Axis::HardwareNegLimitDurationSet
void HardwareNegLimitDurationSet(double seconds)
Set the duration required before the Hardware Negative Limit event triggers.
RSI::RapidCode::Axis::StepperMotorPulseTypeGet
RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse)
Determine how the stepper pulse outputs are configured.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position)
MoveSCurve with the Axis defaults trajectory values from DefaultVelocitySet, DefaultAccelerationSet,...
RSI::RapidCode::Axis::DigitalIoExists
bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber)
Determine if a particular General I/O bit exists for a motor.
RSI::RapidCode::Axis::SoftwarePosLimitTriggerValueSet
void SoftwarePosLimitTriggerValueSet(double triggerValue)
Set the Software Positive Position limit.
RSI::RapidCode::Axis::AnalogInGet
double AnalogInGet(int32_t channel)
Get the value of an analog input.
RSI::RapidCode::Axis::GearingSourceGet
RSIAxisMasterType GearingSourceGet()
Get the Source used to slave to the Master Axis.
RSI::RapidCode::Axis::CommandPositionSet
void CommandPositionSet(double position)
Sets the value of the command and actual positions of an axis.
RSI::RapidCode::Axis::HardwarePosLimitActionSet
void HardwarePosLimitActionSet(RSIAction action)
Set the action that will occur when the Hardware Positive Limit Event triggers.
RSI::RapidCode::Axis::DigitalIoNameGet
const char *const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber)
Get the name of a Motor I/O bit.
RSI::RapidCode::Axis::HomeBehaviorGet
RSIAction HomeBehaviorGet()
Get the Action used during Master based Homing.
RSI::RapidCode::Axis::FeedbackPointerSet
void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address)
Configure an axis for dual loop feedback.
RSI::RapidCode::Axis::MotorTypeGet
RSIMotorType MotorTypeGet()
Get the motor type.
RSI::RapidCode::Axis::AmpDisableActionSet
void AmpDisableActionSet(RSIMotorDisableAction action)
Set the Amp Disable action.
RSI::RapidCode::Axis::SoftwareNegLimitTriggerValueGet
double SoftwareNegLimitTriggerValueGet()
Get the Software Negative Position limit.
RSI::RapidCode::Axis::PositionToleranceCoarseSet
void PositionToleranceCoarseSet(double tolerance)
Set the Coarse Position Tolerance for Axis settling.
RSI::RapidCode::Axis::OriginPositionSet
void OriginPositionSet(double position)
Set the origin position.
RSI::RapidCode::Axis::UserUnitsGet
double UserUnitsGet()
Get the number of counts per User Unit.
RSI::RapidCode::Axis::BacklashRateSet
void BacklashRateSet(double rate)
Sets the rate at which Backlash is applied.
RSI::RapidCode::Axis::AmpEnableGet
bool AmpEnableGet()
Get the state of the Amp Enable Output.
RSI::RapidCode::Axis::SettleOnStopSet
void SettleOnStopSet(bool state)
Set the Stop Event settling configuration.
RSI::RapidCode::Axis::DriveIndexGet
int32_t DriveIndexGet()
Get the drive index, relative to the Network Node (multi-axis drives).
RSI::RapidCode::Axis::HomeBehaviorSet
void HomeBehaviorSet(RSIAction behavior)
Set the Action used for Master based homing.
RSI::RapidCode::Axis::HomeSwitchGet
bool HomeSwitchGet()
Get the current state of the Home switch input.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition)
RSI::RapidCode::Axis::PositionToleranceFineGet
double PositionToleranceFineGet()
Get the Fine Position Tolerance for axis settling.
RSI::RapidCode::Axis::EncoderFaultDurationGet
double EncoderFaultDurationGet()
Get the duration required before the Encoder Fault Limit event triggers.
RSI::RapidCode::Axis::SettleOnEStopCmdEqActGet
bool SettleOnEStopCmdEqActGet()
Get the E-Stop Event settling configuration when E-Stop is configured for (Command = Actual).
RSI::RapidCode::Axis::Home
void Home(bool moveToZero=true)
Execute the homing routine.
RSI::RapidCode::Axis::DigitalIoValidTypesMaskGet
RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber)
Get the type mask for a Motor I/O bit.
RSI::RapidCode::Axis::HardwarePosLimitActionGet
RSIAction HardwarePosLimitActionGet()
Get the action that will occur when the Hardware Positive Limit Event triggers.
RSI::RapidCode::Axis::FilterGainTableSizeGet
int32_t FilterGainTableSizeGet()
Gets the size of gain tables.
RSI::RapidCode::Axis::OperationModeSet
void OperationModeSet(RSIOperationMode mode)
Set the axis operation mode.
RSI::RapidCode::Axis::CommandPositionDirectSet
void CommandPositionDirectSet(double position)
directly sets the value of the command position of an axis
RSI::RapidCode::Axis::HomeMethodGet
RSIHomeMethod HomeMethodGet()
Get the method to be used for homing.
RSI::RapidCode::Axis::MotorFaultMaskGet
int32_t MotorFaultMaskGet()
Get the Motor Fault Mask.
RSI::RapidCode::Axis::MoveCamLinear
void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double *const masterDistances, const double *const slavePositions, int32_t pointCount)
Enable this Axis to be linear follower (slave) using an electronic cam.
RSI::RapidCode::Axis::BrakeModeSet
void BrakeModeSet(RSIMotorBrakeMode mode)
Set the brake mode.
RSI::RapidCode::Axis::HomeVelocitySet
void HomeVelocitySet(double velocity)
Set the home velocity.
RSI::RapidCode::Axis::DigitalInGet
bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber)
Read a digital input.
RSI::RapidCode::Axis::CompensationPositionGet
double CompensationPositionGet()
Get the compensator position.
RSI::RapidCode::Axis::TriggeredModifyDecelerationGet
double TriggeredModifyDecelerationGet()
Get the deceleration rate for an Triggered Modify Event.
RSI::RapidCode::Axis::BacklashHysteresisLimitSet
void BacklashHysteresisLimitSet(double hysteresisLimit)
Brief.
RSI::RapidCode::Axis::MoveVelocitySCurve
void MoveVelocitySCurve(double velocity, double accel, double jerkPct)
Command a constant velocity move (jog) with non-constant acceleration.
RSI::RapidCode::Axis::FilterAlgorithmSet
void FilterAlgorithmSet(RSIFilterAlgorithm algorithm)
Set the algorithm type for an axis.
RSI::RapidCode::Axis::HomeLimitCustomConfigBitIndexGet
int32_t HomeLimitCustomConfigBitIndexGet()
RSI::RapidCode::Axis::HardwarePosLimitTriggerStateSet
void HardwarePosLimitTriggerStateSet(bool state)
sets the trigger state.
RSI::RapidCode::Axis::UserLabelGet
const char *const UserLabelGet()
Get the axis User defined Label.
RSI::RapidCode::Axis::PostTrajectoryGearingMasterAxisSet
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber)
Set the master axis for post-trajectory gearing.
RSI::RapidCode::Axis::NetworkNode
NetworkNode * NetworkNode
Gets the associated NetworkNode object.
Definition rsi.h:6545
RSI::RapidCode::Axis::FilterGainTableGet
int32_t FilterGainTableGet()
Gets which gain table is currently in use by the axis.
RSI::RapidCode::Axis::SoftwareNegLimitActionSet
void SoftwareNegLimitActionSet(RSIAction action)
Set the action that will occur when the Software Negative Limit Event triggers.
RSI::RapidCode::Axis::BacklashHysteresisLimitGet
double BacklashHysteresisLimitGet()
Get the backlash hysteresis limit.
RSI::RapidCode::Axis::ActualVelocityGet
double ActualVelocityGet()
Get the current actual velocity.
RSI::RapidCode::Axis::HomeAccelerationGet
double HomeAccelerationGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the deceleration used for homing.
RSI::RapidCode::Axis::PositiveLimitGet
bool PositiveLimitGet()
Get the state of the Hardware Positive Limit input.
RSI::RapidCode::Axis::PostFilterHighPassSet
void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq)
Use a High Pass Post Filter.
RSI::RapidCode::Axis::UserUnitsSet
void UserUnitsSet(double countsPerUserUnit)
Sets the number of counts per User Unit.
RSI::RapidCode::Axis::OriginPositionGet
double OriginPositionGet()
Get the origin position.
RSI::RapidCode::Axis::EStopJerkPercentSet
void EStopJerkPercentSet(double jerkPct)
Set the jerk percent for an E-Stop, Modify Event.
RSI::RapidCode::Axis::AmpFaultActionSet
void AmpFaultActionSet(RSIAction action)
Set the Amp Fault action.
RSI::RapidCode::Axis::EncoderFaultActionSet
void EncoderFaultActionSet(RSIAction action)
Set the action that will occur when the Encoder Fault Limit Event triggers.
RSI::RapidCode::Axis::UserLabelSet
void UserLabelSet(const char *const userLabel)
Set the axis User defined Label.
RSI::RapidCode::Axis::AmpFaultTriggerStateSet
void AmpFaultTriggerStateSet(bool state)
Set the trigger state of the Amp Fault input.
RSI::RapidCode::Axis::FilterGainTableSet
void FilterGainTableSet(int32_t gainTable)
Set the gain table to be used by an axis.
RSI::RapidCode::Axis::DigitalOutSet
void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue)
Set a digital output bit.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::HomeActionSet
void HomeActionSet(RSIAction action)
Set the action that will occur when the Home Event triggers.
RSI::RapidCode::Axis::DedicatedOutExists
bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber)
Determine if a particular Dedicated output bit exists for a motor.
RSI::RapidCode::Axis::ErrorLimitTriggerValueSet
void ErrorLimitTriggerValueSet(double triggerValue)
Set the Position Error Limit trigger value.
RSI::RapidCode::Axis::StepperMotorLoopbackGet
bool StepperMotorLoopbackGet()
Determine if the stepper is open or closed loop.
RSI::RapidCode::Axis::BrakeApplyDelaySet
void BrakeApplyDelaySet(double seconds)
Set the brake apply delay.
RSI::RapidCode::Axis::MotionCamRepeatFromSet
void MotionCamRepeatFromSet(int32_t repeatFrom)
Set the segment at which camming repeats.
RSI::RapidCode::Axis::HomeActionGet
RSIAction HomeActionGet()
Get the action that will occur when the Home LIMIT triggers.
RSI::RapidCode::Axis::PostFilterBiquadSet
void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo)
Use a Digital Biquad Post Filter.
RSI::RapidCode::Axis::PositionToleranceFineSet
void PositionToleranceFineSet(double tolerance)
Set the Fine Position Tolerance for Axis settling.
RSI::RapidCode::Axis::DigitalIoTypeSet
void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type)
Set the type for a Motor I/O bit.
RSI::RapidCode::Axis::HomeJerkPercentGet
double HomeJerkPercentGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the Jerk Percent used for homing.
RSI::RapidCode::Axis::HomeTriggerStateSet
void HomeTriggerStateSet(bool state)
Set the trigger state for the Home input.
RSI::RapidCode::Axis::DedicatedOutputsGet
uint32_t DedicatedOutputsGet()
Get all 32 dedicated output bits at once for this axis.
RSI::RapidCode::Axis::SyncGroupFaultActionGet
RSIAction SyncGroupFaultActionGet()
Get the action taken when this Axis's node's EtherCAT sync group faults.
RSI::RapidCode::Axis::EncoderRatioSet
void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator)
Sets the ratio to scale Encoder counts.
RSI::RapidCode::Axis::ErrorLimitActionSet
void ErrorLimitActionSet(RSIAction action)
Set the action that will occur when the Error Limit Event triggers.
RSI::RapidCode::Axis::GearingRatioChange
void GearingRatioChange(int32_t numerator, int32_t denominator)
Change the electronic gearing ratio.
RSI::RapidCode::Axis::DigitalOutGet
bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber)
Get the state of digital output bit.
RSI::RapidCode::Axis::HomeStageGet
RSIHomeStage HomeStageGet()
Get the current Homing Stage.
RSI::RapidCode::Axis::AmpEnableAmpFaultTimeoutSecondsDefault
static constexpr double AmpEnableAmpFaultTimeoutSecondsDefault
Default time an Axis waits before generating an AmpFault if the Axis does not enable after calling Am...
Definition rsi.h:6531
RSI::RapidCode::Axis::AmpDisableActionGet
RSIMotorDisableAction AmpDisableActionGet()
Get the Amp Disable action.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity)
RSI::RapidCode::Axis::TargetPositionGet
double TargetPositionGet()
Get the target position.
RSI::RapidCode::Axis::BacklashRateGet
double BacklashRateGet()
Gets the Backlash Rate which was set by the user.
RSI::RapidCode::Axis::AmpFaultDurationGet
double AmpFaultDurationGet()
Get the duration required before the Amp Fault event triggers.
RSI::RapidCode::Axis::FilterCoeffGet
double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable)
Get value for a filter coefficient (ex: Kp, Ki, Kd, etc).
RSI::RapidCode::Axis::HardwareNegLimitDurationGet
double HardwareNegLimitDurationGet()
Get the duration required before the Hardware Negative Limit event triggers.
RSI::RapidCode::Axis::HardwarePosLimitTriggerStateGet
bool HardwarePosLimitTriggerStateGet()
trigger state return.
RSI::RapidCode::Axis::SettleOnStopGet
bool SettleOnStopGet()
Get the Stop Event settling configuration.
RSI::RapidCode::Axis::SoftwarePosLimitTriggerValueGet
double SoftwarePosLimitTriggerValueGet()
Get the Software Positive Position limit.
RSI::RapidCode::Axis::EncoderFaultDurationSet
void EncoderFaultDurationSet(double seconds)
Set the duration required before the Encoder Fault Limit event triggers.
RSI::RapidCode::Axis::ErrorLimitTriggerValueGet
double ErrorLimitTriggerValueGet()
Get the Position Error Limit trigger value.
RSI::RapidCode::Axis::HomeDecelerationSet
void HomeDecelerationSet(double decel)
Set the decleration to be used for homing when using the switch is not detected before the HomeTravel...
RSI::RapidCode::Axis::PostFilterLowPassSet
void PostFilterLowPassSet(int32_t sectionNumber, double frequency)
Use a Low-Pass filter.
RSI::RapidCode::Axis::SoftwareNegLimitActionGet
RSIAction SoftwareNegLimitActionGet()
Get the action that will occur when the Software Negative Limit Event triggers.
RSI::RapidCode::Axis::HomeCancelSet
void HomeCancelSet(bool cancel)
Cancel Homing.
RSI::RapidCode::Axis::PostTrajectoryGearingMultiplierSet
void PostTrajectoryGearingMultiplierSet(double multiplier)
Set the multiplier for post-trajectory gearing.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::EStopJerkPercentGet
double EStopJerkPercentGet()
Get the jerk percent for an E-Stop, Modify Event.
RSI::RapidCode::Axis::PostTrajectoryGearingMasterAxisGet
int32_t PostTrajectoryGearingMasterAxisGet()
Get the master axis number used for post-trajectory gearing.
RSI::RapidCode::Axis::TriggeredModifyJerkPercentSet
void TriggeredModifyJerkPercentSet(double jerkPct)
Set the jerk percent for an Triggered Modify Event.
RSI::RapidCode::Axis::CommandAccelGet
double CommandAccelGet()
Get the current commanded acceleration.
RSI::RapidCode::Axis::HomeVelocityGet
double HomeVelocityGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the home velocity.
RSI::RapidCode::Axis::PostFilterSingleOrderSet
void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne)
Use a Single Order Post Filter.
RSI::RapidCode::Axis::PostFilterLeadLagSet
void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq)
Use a Lead Lag Post Filter.
RSI::RapidCode::Axis::HardwarePosLimitDurationSet
void HardwarePosLimitDurationSet(double seconds)
Set the duration required before the Hardware Positive Limit event triggers.
RSI::RapidCode::Axis::HomeStateSet
void HomeStateSet(bool homed)
Set the home state.
RSI::RapidCode::Axis::DedicatedInExists
bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber)
Determine if a particular Dedicated input bit exists for a motor.
RSI::RapidCode::Axis::BacklashWidthSet
void BacklashWidthSet(double width)
Sets the total range of the give in a system with Backlash.
RSI::RapidCode::Axis::BacklashWidthGet
double BacklashWidthGet()
Gets the Backlash Width which was set by the user.
RSI::RapidCode::Axis::OperationModeGet
RSIOperationMode OperationModeGet()
Get the operation mode.
RSI::RapidCode::Axis::MotionCamMasterStartSet
void MotionCamMasterStartSet(Axis *master, double startPosition)
Set the position at which camming starts.
RSI::RapidCode::Axis::FilterDualLoopSet
void FilterDualLoopSet(Axis *velocityAxis, RSIMotorFeedback velocityEncoder, bool enable)
Configure an axis for dual loop feedback.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::SettleOnEStopGet
bool SettleOnEStopGet()
Get the E-Stop Event settling configuration.
RSI::RapidCode::Axis::MotionIdExecutingGet
uint16_t MotionIdExecutingGet()
RSI::RapidCode::Axis::EncoderFaultActionGet
RSIAction EncoderFaultActionGet()
Get the action that will occur when the Encoder Fault Limit Event triggers.
RSI::RapidCode::Axis::EncoderFaultTriggerSet
void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder)
Set the encoders which are used to generate encoder faults.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::FilterAlgorithmGet
RSIFilterAlgorithm FilterAlgorithmGet()
Get the control algorithm type for an axis.
RSI::RapidCode::Axis::CommandVelocityGet
double CommandVelocityGet()
Get the current commanded velocity.
RSI::RapidCode::Axis::FramesToExecuteGet
int32_t FramesToExecuteGet()
RSI::RapidCode::Axis::HomeTriggerStateGet
bool HomeTriggerStateGet()
Get the trigger state for the Home input.
RSI::RapidCode::Axis::GearingMasterAddressGet
uint64_t GearingMasterAddressGet()
Get the address of the gearing master.
RSI::RapidCode::Axis::HomeAccelerationSet
void HomeAccelerationSet(double accel)
Set the deceleration used for homing.
RSI::RapidCode::Axis::AddressDataTypeGet
RSIDataType AddressDataTypeGet(RSIAxisAddressType type)
Get the data type for an address the Axis.
RSI::RapidCode::Axis::StepperMotorPulseTypeSet
void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type)
Set how the stepper pulse outputs are configured.
RSI::RapidCode::Axis::VelocityToleranceSet
void VelocityToleranceSet(double tolerance)
Set the Velocity Tolerance used for settling.
RSI::RapidCode::Axis::EncoderCountSet
void EncoderCountSet(int32_t count)
RSI::RapidCode::Axis::StepperMotorLoopbackSet
void StepperMotorLoopbackSet(bool loopback)
Configure the stepper to be open or closed loop.
RSI::RapidCode::Axis::CompensationPositionSet
void CompensationPositionSet(double position)
Set the compensator position.
RSI::RapidCode::Axis::BacklashValueGet
double BacklashValueGet()
Gets the current backlash compensation value.
RSI::RapidCode::Axis::PostTrajectoryGearingScaledOffsetGet
double PostTrajectoryGearingScaledOffsetGet()
Get the current scaled position offset from post-trajectory gearing.
RSI::RapidCode::Axis::PositionToleranceCoarseGet
double PositionToleranceCoarseGet()
Get the Coarse Position Tolerance for axis settling.
RSI::RapidCode::Axis::HomeDecelerationGet
double HomeDecelerationGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the decleration to be used for homing when using the switch is not detected before the HomeTravel...
RSI::RapidCode::Axis::EStopDecelerationGet
double EStopDecelerationGet()
Get the deceleration rate for an E-Stop, Modify Event.
RSI::RapidCode::Axis::AmpFaultTriggerStateGet
bool AmpFaultTriggerStateGet()
Get the Amp Fault trigger state.
RSI::RapidCode::Axis::EncoderPositionGet
double EncoderPositionGet(RSIMotorFeedback encoder)
Get the raw encoder position.
RSI::RapidCode::Axis::MotorFaultMaskSet
void MotorFaultMaskSet(int32_t faultMask)
Set the Motor Fault Mask.
RSI::RapidCode::Axis::VelocityToleranceGet
double VelocityToleranceGet()
Get the velocity tolerance used for settling.
RSI::RapidCode::Axis::HomeDurationSet
void HomeDurationSet(double seconds)
Set the duration required before the Home event triggers.
RSI::RapidCode::Axis::HomeMethodSet
void HomeMethodSet(RSIHomeMethod method)
Set the method to be used for homing.
RSI::RapidCode::Axis::EStopDecelerationSet
void EStopDecelerationSet(double decel)
Set the deceleration rate for an E-Stop, Modify Event.
RSI::RapidCode::Axis::TriggeredModifyJerkPercentGet
double TriggeredModifyJerkPercentGet()
Get the jerk percent for an Triggered Modify Event.
RSI::RapidCode::Axis::MoveCamCubic
void MoveCamCubic(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double *const masterDistances, const double *const slavePositions, const double *const gearRatios, int32_t pointCount)
Enable this Axis to be cubic follower (slave) using an electronic cam.
RSI::RapidCode::Axis::PostFilterClear
void PostFilterClear(int32_t sectionNumber)
Remove any Post Filters in section Number.
RSI::RapidCode::Axis::HomeDurationGet
double HomeDurationGet()
Get the duration required before the Home event triggers.
RSI::RapidCode::Axis::NegativeLimitGet
bool NegativeLimitGet()
Get the state of the Hardware Negative Limit input.
RSI::RapidCode::Axis::HomeStateGet
bool HomeStateGet()
Get the home state.
RSI::RapidCode::Axis::SettleOnEStopSet
void SettleOnEStopSet(bool state)
Set the E-Stop Event settling configuration.
RSI::RapidCode::Axis::MotorTypeSet
void MotorTypeSet(RSIMotorType type)
Set the motor type.
RSI::RapidCode::Axis::SoftwareNegLimitTriggerValueSet
void SoftwareNegLimitTriggerValueSet(double triggerValue)
Set the Software Negative Position limit.
RSI::RapidCode::Axis::GearingDisable
void GearingDisable()
Disable the electronic gearing.
RSI::RapidCode::Axis::HomeLimitCustomConfigSet
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex)
RSI::RapidCode::Axis::PositionSet
void PositionSet(double position)
Set the Command and Actual positions.
RSI::RapidCode::Axis::BrakeReleaseDelayGet
double BrakeReleaseDelayGet()
Get the brake release delay time.
RSI::RapidCode::Axis::DedicatedInputsGet
uint32_t DedicatedInputsGet()
Get all 32 dedicated input bits at once for this axis.
RSI::RapidCode::Axis::AmpFaultGet
bool AmpFaultGet()
Get the current state of the Amp Fault input.
RSI::RapidCode::Axis::NetworkIndexSet
void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex)
Override the PDO array index for an axis signal mapping.
RSI::RapidCode::Axis::GearingMasterAxisNumberGet
int32_t GearingMasterAxisNumberGet()
Get a Slave's Master Axis Number.
RSI::RapidCode::Axis::SyncGroupFaultActionSet
void SyncGroupFaultActionSet(RSIAction action)
Set the action taken when this Axis's node's EtherCAT sync group faults.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct)
Command a relative point-to-point S-Curve motion.
RSI::RapidCode::Axis::DedicatedInGet
bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber)
Read a digital input.
RSI::RapidCode::Axis::BrakeModeGet
RSIMotorBrakeMode BrakeModeGet()
Get the brake mode.
RSI::RapidCode::Axis::HardwareNegLimitTriggerStateGet
bool HardwareNegLimitTriggerStateGet()
Trigger state return.
RSI::RapidCode::Axis::PostFilterNotchSet
void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth)
Use a Notch Post Filter.
RSI::RapidCode::Axis::ActualPositionGet
double ActualPositionGet()
Get the current actual position.
RSI::RapidCode::Axis::MotionElementIdExecutingGet
uint16_t MotionElementIdExecutingGet()
RSI::RapidCode::Axis::FrameBufferSizeSet
void FrameBufferSizeSet(int32_t frameSize)
RSI::RapidCode::Axis::FilterLowPassSet
void FilterLowPassSet(double frequency)
Use a Low-Pass filter.
RSI::RapidCode::Axis::MotionCamMasterStartGet
double MotionCamMasterStartGet(Axis *master)
Gets the position on the master that will start the cam when exceeded.
RSI::RapidCode::Axis::ErrorLimitActionGet
RSIAction ErrorLimitActionGet()
Get the action that will occur when the Position Error Limit Event triggers.
RSI::RapidCode::Axis::GearingEnable
void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator)
Enable this Axis to be follower (slave) using electronic gearing.
RSI::RapidCode::Axis::HomeOffsetSet
void HomeOffsetSet(double offset)
Sets the user coordinate value assigned to the detected homing reference point.
RSI::RapidCode::Axis::HardwarePosLimitDurationGet
double HardwarePosLimitDurationGet()
Get the duration required before the Hardware Positive Limit event triggers.
RSI::RapidCode::Axis::AmpFaultDurationSet
void AmpFaultDurationSet(double seconds)
Set the duration required before the Amp Fault event triggers.
RSI::RapidCode::Axis::HomeSlowVelocityGet
double HomeSlowVelocityGet()
Get the slow home velocity.
RSI::RapidCode::Axis::HomeJerkPercentSet
void HomeJerkPercentSet(double percent)
Set the Jerk Percent used for homing.
RSI::RapidCode::Axis::SoftwarePosLimitActionGet
RSIAction SoftwarePosLimitActionGet()
Get the action that will occur when the Software Positive Limit Event triggers.
RSI::RapidCode::Axis::PostFilterUnityGainSet
void PostFilterUnityGainSet(int32_t sectionNumber)
Use a Unity Gain Post Filter.
RSI::RapidCode::Axis::HomeOffsetGet
double HomeOffsetGet()
Get the home offset.
RSI::RapidCode::Axis::MotionCamRepeatStop
void MotionCamRepeatStop()
Stops a Repeating Cam.
RSI::RapidCode::Axis::ErrorLimitDurationGet
double ErrorLimitDurationGet()
Get the duration required before the Position Error Limit event triggers.
RSI::RapidCode::Axis::PostTrajectoryGearingMultiplierGet
double PostTrajectoryGearingMultiplierGet()
Get the multiplier for post-trajectory gearing.
RSI::RapidCode::Axis::PostTrajectoryGearingEnableSet
void PostTrajectoryGearingEnableSet(bool enable)
Enable or disable post-trajectory gearing for this axis.
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity, double accel)
Command a constant velocity move (jog).
RSI::RapidCode::Axis::ActualPositionSet
void ActualPositionSet(double position)
Set the actual position.
RSI::RapidCode::Axis::PostFilterResonatorSet
void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain)
Use a Resonator Post Filter.
RSI::RapidCode::Axis::DedicatedOutGet
bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber)
Get the state of dedicated output bit.
RSI::RapidCode::Axis::PostTrajectoryGearingEnableGet
bool PostTrajectoryGearingEnableGet()
Get the enable state of post-trajectory gearing.
RSI::RapidCode::Axis::FilterLowPassGet
double FilterLowPassGet()
Get the value of the Low-Pass filter.
RSI::RapidCode::Axis::HardwareNegLimitActionGet
RSIAction HardwareNegLimitActionGet()
Get the action that will occur when the Hardware Negative Limit Event triggers.
RSI::RapidCode::Axis::SettleOnEStopCmdEqActSet
void SettleOnEStopCmdEqActSet(bool state)
Set the settling configuration for E-Stop events (when configured for Command = Actual).
RSI::RapidCode::Axis::BrakeReleaseDelaySet
void BrakeReleaseDelaySet(double seconds)
Set the Brake Release Delay.
RSI::RapidCode::Axis::HardwareNegLimitTriggerStateSet
void HardwareNegLimitTriggerStateSet(bool state)
Sets the trigger state.
RSI::RapidCode::Axis::DigitalInputsGet
uint32_t DigitalInputsGet()
Get all 32 digital input bits at once for this axis.
RSI::RapidCode::Axis::MotionCamRepeatFromGet
int32_t MotionCamRepeatFromGet()
Get the segment at which camming repeats.
RSI::RapidCode::Axis::SettlingTimeSet
void SettlingTimeSet(double time)
Set the settling time.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
RSI::RapidCode::Axis::SoftwarePosLimitActionSet
void SoftwarePosLimitActionSet(RSIAction action)
Set the action that will occur when the Software Positive Limit Event triggers.
RSI::RapidCode::Axis
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:6515
RSI::RapidCode::Axis::DefaultVelocitySet
void DefaultVelocitySet(double velocity)
Set the default velocity in UserUnits.
RSI::RapidCode::Axis::EncoderRatioPrimarySet
void EncoderRatioPrimarySet(char *numeratorCommaDenominator)
Set the primary feedback encoder ratio as text. "1.0 ,2.0".
RSI::RapidCode::Axis::LimitTriggerStateGet
bool LimitTriggerStateGet(RSIEventType limit)
Get the trigger state for any type of limit.
RSI::RapidCode::Axis::NodeFailureActionSet
void NodeFailureActionSet(RSIAction action)
Set the action for a node failure.
RSI::RapidCode::Axis::DefaultDecelerationGet
double DefaultDecelerationGet()
Get the default deceleration in UserUnits.
RSI::RapidCode::Axis::HomeLimitCustomConfigAddressGet
uint64_t HomeLimitCustomConfigAddressGet()
Get the host address of the custom home input configuration.
RSI::RapidCode::Axis::NetworkIndexInvalid
static constexpr uint32_t NetworkIndexInvalid
Returned by NetworkIndexGet() when the index is invalid or nonexistent for this Axis.
Definition rsi.h:6528
RSI::RapidCode::Axis::EncoderRatioSecondarySet
void EncoderRatioSecondarySet(char *numeratorCommaDenominator)
Set the secondary feedback encoder ratio as text. "1.0 ,2.0".
RSI::RapidCode::Axis::CommandJerkGet
double CommandJerkGet()
Get the current commanded jerk value (custom firmware required).
RSI::RapidCode::Axis::FilterOutputGet
double FilterOutputGet(void)
Get the output of a demand filter, range is +/- 100.0.
RSI::RapidCode::Axis::EncoderPointerSet
void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address)
Set the pointer (host address) for the motor feedback.
RSI::RapidCode::Axis::DefaultAccelerationSet
void DefaultAccelerationSet(double acceleration)
Set the default acceleration in UserUnits.
RSI::RapidCode::Axis::IsTuneable
bool IsTuneable()
Is an Axis tunable? Returns false if Axis is in position mode, otherwise true.
RSI::RapidCode::Axis::DefaultPosition2Get
double DefaultPosition2Get()
Get the default Position 2 value in UserUnits (used by RapidSetup).
RSI::RapidCode::Axis::LimitTriggerStateSet
void LimitTriggerStateSet(RSIEventType limit, bool triggerState)
Set the trigger state for any type of limit.
RSI::RapidCode::Axis::DefaultJerkPercentGet
double DefaultJerkPercentGet()
Get the default jerk percent.
RSI::RapidCode::Axis::DefaultAccelerationGet
double DefaultAccelerationGet()
Get the default acceleration in UserUnits.
RSI::RapidCode::Axis::EncoderRatioSecondaryGet
const char *const EncoderRatioSecondaryGet()
Get the secondary feedback encoder ratio as text.
RSI::RapidCode::Axis::DefaultVelocityGet
double DefaultVelocityGet()
Get the default velocity in UserUnits.
RSI::RapidCode::Axis::GearingDenominatorGet
int32_t GearingDenominatorGet()
Get the denominator of the gearing ratio.
RSI::RapidCode::Axis::FilterGainSchedulingSet
void FilterGainSchedulingSet(bool enable)
Enable or disable automatic gain scheduling.
RSI::RapidCode::Axis::UserUnitsToCounts
double UserUnitsToCounts(double userUnits)
Convert from UserUnits to raw feedback counts.
RSI::RapidCode::Axis::PostFilterInfoGet
const char *const PostFilterInfoGet()
Get a text description of the current post filters.
RSI::RapidCode::Axis::GantryTypeSet
void GantryTypeSet(RSIAxisGantryType type)
Set the gantry type.
RSI::RapidCode::Axis::StatusWordGet
uint16_t StatusWordGet()
Get the DS402 status word.
RSI::RapidCode::Axis::LimitTriggerValueGet
double LimitTriggerValueGet(RSIEventType limit)
Get the trigger value for any type of limit.
RSI::RapidCode::Axis::DefaultPosition1Get
double DefaultPosition1Get()
Get the default Position 1 value in UserUnits (used by RapidSetup).
RSI::RapidCode::Axis::ClosedLoopStepperVersionGet
int32_t ClosedLoopStepperVersionGet()
Unsupported.
RSI::RapidCode::Axis::GearingNumeratorGet
int32_t GearingNumeratorGet()
Get the numerator of the gearing ratio.
RSI::RapidCode::Axis::EncoderPointerGet
uint64_t EncoderPointerGet(RSIMotorFeedback encoder)
Get the pointer (host address) for the motor feedback.
RSI::RapidCode::Axis::EncoderRatioPrimaryGet
const char *const EncoderRatioPrimaryGet()
Get the primary feedback encoder ratio as text.
RSI::RapidCode::Axis::LimitDurationGet
double LimitDurationGet(RSIEventType limit)
Get the duration for any type of limit.
RSI::RapidCode::Axis::MotionFinalVelocitySet
void MotionFinalVelocitySet(double finalVelocity)
Set the final velocity of a motion, when FINAL_VEL motion attribute is used.
RSI::RapidCode::Axis::FeedbackDeltaPointerGet
uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input)
Get the pointer (host address) for the axis feedback.
RSI::RapidCode::Axis::FaultMaskBitGet
bool FaultMaskBitGet(RSIMotorFaultMask bitMask)
Unsupported Function. Likely to be removed in the future.
RSI::RapidCode::Axis::HomeLimitCustomConfigReset
void HomeLimitCustomConfigReset()
Remove any custom home input configuration and reset to use the Axis' dedicated home input bit.
RSI::RapidCode::Axis::DefaultPosition1Set
void DefaultPosition1Set(double position1)
Set the default Position 1 value in UserUnits (used by RapidSetup).
RSI::RapidCode::Axis::DefaultDecelerationSet
void DefaultDecelerationSet(double deceleration)
Set the default deceleration in UserUnits.
RSI::RapidCode::Axis::DefaultRelativeIncrementGet
double DefaultRelativeIncrementGet()
Get the default relative increment value in UserUnits (used by RapidSetup).
RSI::RapidCode::Axis::EncoderRatioDenominatorGet
int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder)
Get the encoder ration denominator.
RSI::RapidCode::Axis::DefaultRelativeIncrementSet
void DefaultRelativeIncrementSet(double relativeIncrement)
Set the default relative value in UserUnits (used by RapidSetup).
RSI::RapidCode::Axis::CountsToUserUnits
double CountsToUserUnits(double counts)
Convert from raw feedback counts to UserUnits.
RSI::RapidCode::Axis::DefaultPosition2Set
void DefaultPosition2Set(double position2)
Set the default Position 2 value in UserUnits (used by RapidSetup).
RSI::RapidCode::Axis::EncoderRatioNumeratorGet
int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder)
Get the encoder ratio numerator.
RSI::RapidCode::Axis::ClosedLoopStepperSet
void ClosedLoopStepperSet(bool enable)
Unsupported.
RSI::RapidCode::Axis::LimitActionGet
RSIAction LimitActionGet(RSIEventType limit)
Get the action for any type of limit.
RSI::RapidCode::Axis::LimitDurationSet
void LimitDurationSet(RSIEventType limit, double seconds)
Set the duration for any type of limit.
RSI::RapidCode::Axis::FeedbackDeltaPointerSet
void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address)
Set the pointer (host address) for the axis feedback.
RSI::RapidCode::Axis::MotionFinalVelocityGet
double MotionFinalVelocityGet()
Get final velocity of a motion, when FINAL_VEL motion attribute is used.
RSI::RapidCode::Axis::GantryTypeGet
RSIAxisGantryType GantryTypeGet()
Get the gantry type.
RSI::RapidCode::Axis::FeedbackPointerGet
uint64_t FeedbackPointerGet(RSIAxisPositionInput input)
Get the pointer (host address) for the axis feedback.
RSI::RapidCode::Axis::LimitActionSet
void LimitActionSet(RSIEventType limit, RSIAction action)
Set the action for any type of limit.
RSI::RapidCode::Axis::NodeFailureActionGet
RSIAction NodeFailureActionGet()
Get the action for a node failure.
RSI::RapidCode::Axis::GearingEnableGet
bool GearingEnableGet()
Get the state of gearing feature. If true, this Axis is a geared slave.
RSI::RapidCode::Axis::DefaultJerkPercentSet
void DefaultJerkPercentSet(double jerkPercent)
Set the default jerk percent.
RSI::RapidCode::Axis::LimitTriggerValueSet
void LimitTriggerValueSet(RSIEventType limit, double triggerValue)
Set the trigger value for any type of limit.
RSI::RapidCode::Axis::EncoderCountGet
int32_t EncoderCountGet()
Get the number of encoders processed in firmware by the motor object. Valid values: 0,...
RSI::RapidCode::Axis::FilterGainSchedulingGet
bool FilterGainSchedulingGet()
Get the status of automatic gain scheduling.
RSI::RapidCode::IO::IOExists
bool IOExists()
IOExists validates your IO object is an IO Node.
RSI::RapidCode::IO::DigitalInGet
bool DigitalInGet(int32_t digitalInNumber)
Get the state of a digital input bit.
RSI::RapidCode::IO::UserLabelGet
const char *const UserLabelGet()
Get the IO User defined Label.
RSI::RapidCode::IO::UserLabelSet
void UserLabelSet(const char *const userLabel)
Set the IO User defined Label.
RSI::RapidCode::IO::AnalogInGet
int32_t AnalogInGet(int32_t analogChannel)
Get the value of an analog input.
RSI::RapidCode::IO::DigitalOutGet
bool DigitalOutGet(int32_t digitalOutNumber)
Get the state of a Digital Output bit.
RSI::RapidCode::IO::NumberGet
int32_t NumberGet()
Get the zero-based IO number.
RSI::RapidCode::IO::AnalogOutGet
int32_t AnalogOutGet(int32_t analogChannel)
Get the value of an analog output.
RSI::RapidCode::IO::DigitalOutSet
void DigitalOutSet(int32_t digitalOutNumber, bool outValue)
Set the state of a digital output bit.
RSI::RapidCode::IO::AnalogOutSet
void AnalogOutSet(int32_t analogChannel, int32_t analogValue)
Set the value of an analog output.
RSI::RapidCode::IO
The IO object provides an interface to the inputs and outputs of a network node.
Definition rsi.h:12732
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:12743
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:12745
RSI::RapidCode::IOPoint::AddressGet
uint64_t AddressGet()
Get the Host Address for the I/O point.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(Axis *axis, RSIMotorGeneralIo motorGeneralIoNumber)
Create a Digital Input from an Axis' general purpose inputs.
RSI::RapidCode::IOPoint::ValueSet
void ValueSet(double valueDouble)
Set the value for an Analog Output.
RSI::RapidCode::IOPoint::ValueGet
double ValueGet()
Get the value of an Analog Input or Output.
RSI::RapidCode::IOPoint::IsOutput
bool IsOutput()
Determine if an I/O point is an output.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(NetworkNode *networkNode, int32_t bitNumber)
Create a Digital Input from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(MotionController *controller, uint64_t memoryAddress, int32_t bitNumber)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::Set
void Set(bool state)
Set the state of a Digital Output.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(Axis *axis, RSIMotorGeneralIo motorGeneralIoNumber)
Create a Digital Output from an Axis' general purpose inputs.
RSI::RapidCode::IOPoint::CreateAnalogInput
static IOPoint * CreateAnalogInput(NetworkNode *networkNode, int32_t analogChannel)
Create an Analog Input from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::CreateAnalogOutput
static IOPoint * CreateAnalogOutput(NetworkNode *networkNode, int32_t analogChannel)
Create an Analog Output from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(Axis *axis, RSIMotorDedicatedIn motorDedicatedInNumber)
Create a Digital Input from an Axis' Dedicated Input bits.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(MotionController *controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::IsDigital
bool IsDigital()
Determine if an I/O point is Digital or Analog.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(MotionController *controller, uint64_t memoryAddress, int32_t bitNumber)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(MotionController *controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(Axis *axis, RSIMotorDedicatedOut motorDedicatedOutNumber)
Create a Digital Output from an Axis' Dedicated Output bits.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(NetworkNode *networkNode, int32_t bitNumber)
Create a Digital Output from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::Get
bool Get()
Get the state of Digital Input or Output.
RSI::RapidCode::IOPoint::MaskGet
int32_t MaskGet()
Get the bit mask for the I/O point.
RSI::RapidCode::IOPoint
Represents one specific point: Digital Output, Digital Input, Analog Output, or Analog Input....
Definition rsi.h:12240
RSI::RapidCode::MotionController::AxisGet
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
RSI::RapidCode::MotionController::NetworkNodeGet
NetworkNode * NetworkNodeGet(int32_t nodeNumber)
NetworkNodeGet returns a pointer to a RapidCodeNetworkNode object using its node number and initializ...
RSI::RapidCode::MotionController::UserLimitDisable
void UserLimitDisable(int32_t number)
Disable the processing of a User Limit.
RSI::RapidCode::MotionController::InterruptWake
void InterruptWake()
Wake all threads waiting for a controller interrupt.
RSI::RapidCode::MotionController::Get
static MotionController * Get(const char *const nodeName)
[Windows] Get an already running RMP EtherCAT controller by its INtime node name.
RSI::RapidCode::MotionController::RecorderRecordCountGet
int32_t RecorderRecordCountGet()
Get the number of records that are stored and ready for reading on Recorder 0.
RSI::RapidCode::MotionController::NetworkSyncGroupCountGet
int32_t NetworkSyncGroupCountGet()
Get the number of sync groups present on the network.
RSI::RapidCode::MotionController::UserLimitReset
void UserLimitReset(int32_t number)
Clear the latched status of a User Limit.
RSI::RapidCode::MotionController::UserLimitCountGet
int32_t UserLimitCountGet()
Get the number of UserLimits processing in the firmware.
RSI::RapidCode::MotionController::NetworkOutputValueGet
uint64_t NetworkOutputValueGet(int32_t index)
Gets the value sent out over EtherCAT.
RSI::RapidCode::MotionController::RecorderStart
void RecorderStart()
Start recording data.
RSI::RapidCode::MotionController::RecorderCircularBufferSet
void RecorderCircularBufferSet(bool enable)
Configure recorder as circular buffer (or not) on Recorder 0.
RSI::RapidCode::MotionController::RecorderBufferSizeGet
int32_t RecorderBufferSizeGet(int32_t recorderNumber)
Get Frame buffer size for the Recorder.
RSI::RapidCode::MotionController::UserVersionSet
void UserVersionSet(int32_t version)
Sets a customer designed Version for the application.
RSI::RapidCode::MotionController::NetworkOutputOverrideValueSet
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue)
Sets a PDO output directly.
RSI::RapidCode::MotionController::NetworkStateGet
RSINetworkState NetworkStateGet()
RSI::RapidCode::MotionController::RecorderBufferSizeSet
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize)
Set buffer size for the Recorder.
RSI::RapidCode::MotionController::AxisFrameBufferSizeDefault
static constexpr int32_t AxisFrameBufferSizeDefault
The default value of the AxisFrameBufferSize, also the minimum allowable value.
Definition rsi.h:860
RSI::RapidCode::MotionController::MathBlockCountSet
void MathBlockCountSet(int32_t mathBlockCount)
Set the number of processed MathBlocks in the MotionController.
RSI::RapidCode::MotionController::RecorderTriggerOnMotionGet
bool RecorderTriggerOnMotionGet(int32_t recorderNumber)
Check to see if the Recorder is set to trigger on motion.
RSI::RapidCode::MotionController::NetworkOutputIntendedFirmwareValueGet
FirmwareValue NetworkOutputIntendedFirmwareValueGet(int32_t index)
Gets the typed value set by the cyclic RMP processes.
RSI::RapidCode::MotionController::RecorderRecordDataRetrieve
void RecorderRecordDataRetrieve()
Retrieve one record of recorded data on Recorder 0.
RSI::RapidCode::MotionController::NetworkEniGenerate
RSINetworkEniResult NetworkEniGenerate()
Generate the network ENI file, EtherCAT.xml.
RSI::RapidCode::MotionController::SampleRateSet
void SampleRateSet(double sampleRate)
Configure the RMP firmware control loop frequency.
RSI::RapidCode::MotionController::FirmwareVersionGet
const char *const FirmwareVersionGet()
Get the firmware version.
RSI::RapidCode::MotionController::RecorderDataCountSet
void RecorderDataCountSet(int32_t count)
Set the number of data values to be recorded on Recorder 0.
RSI::RapidCode::MotionController::Reset
void Reset()
Reset the controller which stops and restarts the RMP firmware.
RSI::RapidCode::MotionController::FirmwareAddressGet
uint64_t FirmwareAddressGet(uint64_t hostAddress)
Convert a host controller address to a firmware address.
RSI::RapidCode::MotionController::NetworkInputBitOffsetGet
int32_t NetworkInputBitOffsetGet(int32_t index)
RSI::RapidCode::MotionController::RecorderConfigureToTriggerOnMotion
void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion)
Configure the Recorder 0 to trigger on Axis motion.
RSI::RapidCode::MotionController::UserLimitConditionSet
void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32)
Set the conditions for a User Limit with a 32-bit integer trigger value.
RSI::RapidCode::MotionController::SyncInterruptHostProcessStatusClear
void SyncInterruptHostProcessStatusClear()
Clear the Host Process status bit.
RSI::RapidCode::MotionController::MotionCountSet
void MotionCountSet(int32_t motionCount)
Set the number of processed Motion Supervisors in the controller.
RSI::RapidCode::MotionController::MemorySet
void MemorySet(uint64_t address, int32_t data)
Write a value to controller memory.
RSI::RapidCode::MotionController::NetworkOutputOverrideValueGet
uint64_t NetworkOutputOverrideValueGet(int32_t index)
Sets a PDO output directly.
RSI::RapidCode::MotionController::Create
static MotionController * Create(CreationParameters *creationParameters)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CompensatorCountGet
int32_t CompensatorCountGet()
Get the number of Compensators available in the firmware.
RSI::RapidCode::MotionController::NetworkOutputOverrideSet
void NetworkOutputOverrideSet(int32_t index, bool outputOverride)
Set NetworkOutputValue to override RMP cyclic value.
RSI::RapidCode::MotionController::NetworkOutputDataTypeNameGet
const char *const NetworkOutputDataTypeNameGet(int32_t index)
Get the data type name (as a string) of a PDO network output.
RSI::RapidCode::MotionController::MemoryDoubleSet
void MemoryDoubleSet(uint64_t address, double dataDouble)
Write a 64-bit double value to controller memory.
RSI::RapidCode::MotionController::RecorderRecordDataGet
const int32_t *const RecorderRecordDataGet()
Get one record of recorded data on Recorder 0.
RSI::RapidCode::MotionController::ServiceThreadEnableSet
void ServiceThreadEnableSet(bool enable)
Enable or disable the service thread.
RSI::RapidCode::MotionController::AddressDataTypeGet
RSIDataType AddressDataTypeGet(RSIControllerAddressType type)
Get the data type for an address on the MotionController.
RSI::RapidCode::MotionController::NetworkInputDataTypeGet
RSIDataType NetworkInputDataTypeGet(int32_t index)
Get the RSIDataType for a PDO input.
RSI::RapidCode::MotionController::AddressGet
uint64_t AddressGet(RSIControllerAddressType type)
Get the an address for some location on the MotionController.
RSI::RapidCode::MotionController::UserLimitOutputSet
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled)
Configure a User Limit Output block.
RSI::RapidCode::MotionController::RecorderRecordMaxCountGet
int32_t RecorderRecordMaxCountGet()
Get the maximum number of records the recorder can store on Recorder 0.
RSI::RapidCode::MotionController::CompensatorPointCountGet
int32_t CompensatorPointCountGet(int32_t compensatorNumber)
Get the number of points for use with a Compensator.
RSI::RapidCode::MotionController::NetworkNodeCountGet
int32_t NetworkNodeCountGet()
Get the number of nodes discovered on the EtherCAT network.
RSI::RapidCode::MotionController::CompensatorEnable
void CompensatorEnable(int32_t compensatorNumber)
Enables the compensator only if it will cause no errors.
RSI::RapidCode::MotionController::NetworkSyncGroupRecover
void NetworkSyncGroupRecover(int32_t groupId, uint32_t timeoutMilliseconds=NetworkSyncGroupRecoverTimeoutMillisecondsDefault)
Recover a degraded (non-zero) sync group back to Operational without restarting the network.
RSI::RapidCode::MotionController::UserLimitEnableGet
bool UserLimitEnableGet(int32_t number)
Get the enabled state of a User Limit.
RSI::RapidCode::MotionController::NetworkOutputSentFirmwareValueGet
FirmwareValue NetworkOutputSentFirmwareValueGet(int32_t index)
Gets the typed value sent out over EtherCAT.
RSI::RapidCode::MotionController::SyncInterruptEnableSet
void SyncInterruptEnableSet(bool enable)
Configure Sync (periodic) interrupts for the controller.
RSI::RapidCode::MotionController::CompensatorPointCountSet
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount)
Set the number of points for use with a Compensator.
RSI::RapidCode::MotionController::NetworkSyncGroupStatusGet
NetworkSyncGroupStatus NetworkSyncGroupStatusGet(int32_t groupId)
Get the status of a single sync group.
RSI::RapidCode::MotionController::NetworkInputValueGet
uint64_t NetworkInputValueGet(int32_t index)
RSI::RapidCode::MotionController::Create
static MotionController * Create()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::ProcessorTypeGet
RSIProcessorType ProcessorTypeGet()
Get the processor type.
RSI::RapidCode::MotionController::AddressFromStringGet
uint64_t AddressFromStringGet(const char *const addressName)
Get a controller memory address from string.
RSI::RapidCode::MotionController::CompensatorTableGet
void CompensatorTableGet(int32_t compensatorNumber, double *table)
Read the table for a configured compensator.
RSI::RapidCode::MotionController::IsLicensed
bool IsLicensed()
Check to see if this MotionController is licensed.
RSI::RapidCode::MotionController::NetworkOutputIntendedValueGet
uint64_t NetworkOutputIntendedValueGet(int32_t index)
Gets the value set by the cyclic RMP processes.
RSI::RapidCode::MotionController::NetworkOutputSentValueGet
uint64_t NetworkOutputSentValueGet(int32_t index)
Gets the value sent out over EtherCAT.
RSI::RapidCode::MotionController::CreateFromFile
static MotionController * CreateFromFile(const char *const fileName)
Create a MotionController from a memory-dumped file.
RSI::RapidCode::MotionController::RecorderDataAddressesSet
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t *const addresses, int32_t addressCount)
Setup multiple addresses to record at once.
RSI::RapidCode::MotionController::SyncInterruptHostProcessFlagSet
void SyncInterruptHostProcessFlagSet(bool hostProcessFlag)
Set the Host Process flag.
RSI::RapidCode::MotionController::CompensatorPositionGet
double CompensatorPositionGet(int32_t compensatorNumber)
Get the compensator position.
RSI::RapidCode::MotionController::NetworkShutdown
void NetworkShutdown()
Shutdown the EtherCAT network.
RSI::RapidCode::MotionController::MemoryGet
int32_t MemoryGet(uint64_t address)
Read controller memory.
RSI::RapidCode::MotionController::NetworkOutputAddressGet
uint64_t NetworkOutputAddressGet(int32_t index)
Get the host address for a Network Output.
RSI::RapidCode::MotionController::SampleWait
void SampleWait(uint32_t samples)
Wait for controller firmware to execute samples.
RSI::RapidCode::MotionController::SyncInterruptPeriodSet
void SyncInterruptPeriodSet(uint32_t samples)
Configure the period for the Sync Interrupt on the controller.
RSI::RapidCode::MotionController::UserLimitInterruptUserDataAddressSet
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address)
Set the User Data address based on a User Limit trigger.
RSI::RapidCode::MotionController::MemoryToFile
void MemoryToFile(const char *const fileName)
Saves an RMP firmware memory dump which can be compared with others.
RSI::RapidCode::MotionController::BackgroundCycleCounterGet
int32_t BackgroundCycleCounterGet()
Get the current value of the controller's processor's background cycle counter.
RSI::RapidCode::MotionController::RecorderRecordDataValueGet
int32_t RecorderRecordDataValueGet(int32_t index)
Get one value from a retrieved record on Recorder 0.
RSI::RapidCode::MotionController::NetworkStart
void NetworkStart()
Start the network, doing both a discovery followed by starting to OPERATIONAL state.
RSI::RapidCode::MotionController::Get
static MotionController * Get(int32_t controllerIndex=CreationParameters::ControllerIndexDefault)
Get an already running RMP EtherCAT controller.
RSI::RapidCode::MotionController::NetworkOutputValueSet
void NetworkOutputValueSet(int32_t index, uint64_t outputValue)
Sets a PDO output directly.
RSI::RapidCode::MotionController::MotionHoldGateSet
void MotionHoldGateSet(int32_t gateNumber, bool hold)
Set the Motion Hold Gate.
RSI::RapidCode::MotionController::UserLimitConfigSet
void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot)
Configure a User Limit.
RSI::RapidCode::MotionController::NetworkEniGenerateOutputGet
const char *const NetworkEniGenerateOutputGet()
Retrieve the text output from the previous NetworkEniGenerate() call.
RSI::RapidCode::MotionController::CompensatorTableSet
void CompensatorTableSet(int32_t compensatorNumber, const double *const table)
Override the table for a configured compensator.
RSI::RapidCode::MotionController::SampleRateDefault
static constexpr double SampleRateDefault
Default RMP sample rate in hertz.
Definition rsi.h:849
RSI::RapidCode::MotionController::MemoryBlockSet
void MemoryBlockSet(uint64_t address, const void *const dataStart, int32_t size)
Set controller memory.
RSI::RapidCode::MotionController::HostAddressGet
uint64_t HostAddressGet(uint64_t firmwareAddress)
Convert a firmware address to a host controller address.
RSI::RapidCode::MotionController::NetworkInputAddressGet
uint64_t NetworkInputAddressGet(int32_t index)
Get the host address for a PDO input.
RSI::RapidCode::MotionController::RecorderStop
void RecorderStop()
Stop recording data on Recorder 0.
RSI::RapidCode::MotionController::NetworkLogMessageGet
const char *const NetworkLogMessageGet(int32_t messageIndex)
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath, const char *const NodeName)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::MathBlockCountGet
int32_t MathBlockCountGet()
Get the number of MathBlocks processing in the firmware.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::SyncInterruptHostProcessTimeGet
int32_t SyncInterruptHostProcessTimeGet()
Get the total number of microseconds availble for host processing.
RSI::RapidCode::MotionController::Delete
void Delete(void)
Delete the MotionController and all its objects.
RSI::RapidCode::MotionController::FirmwareOptionGet
int32_t FirmwareOptionGet()
Get the firmware option number.
RSI::RapidCode::MotionController::SampleCounterGet
int32_t SampleCounterGet()
Get the current value of the controller's processor's sample counter.
RSI::RapidCode::MotionController::NetworkOutputOverrideFirmwareValueSet
void NetworkOutputOverrideFirmwareValueSet(int32_t index, FirmwareValue value)
Sets a typed PDO override value.
RSI::RapidCode::MotionController::ProcessorUsageGet
double ProcessorUsageGet()
Get the processor usage percent.
RSI::RapidCode::MotionController::AxisFrameBufferSizeGet
int32_t AxisFrameBufferSizeGet(int32_t axisNumber)
Get Frame buffer size for the axis.
RSI::RapidCode::MotionController::UserVersionGet
int32_t UserVersionGet()
Get a customer designated Version for the application.
RSI::RapidCode::MotionController::CompensatorDisable
void CompensatorDisable(int32_t compensatorNumber, bool force=false)
Disable a compensator with the option to force the action.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::SyncInterruptHostProcessStatusBitGet
bool SyncInterruptHostProcessStatusBitGet()
See if the host was processing too int32_t on previous Sync Interrupt.
RSI::RapidCode::MotionController::IOGet
IO * IOGet(int32_t nodeNumber)
IOGet returns a pointer to an IO object using its node number and initializes its internals.
RSI::RapidCode::MotionController::RecorderReset
void RecorderReset()
Reset the recorder on Recorder 0.
RSI::RapidCode::MotionController::FirmwareTimingDeltaGet
uint32_t FirmwareTimingDeltaGet()
Get the most recent time (in microseconds) between samples.
RSI::RapidCode::MotionController::RecorderCountGet
int32_t RecorderCountGet()
Get the number of Recorder available in the firmware.
RSI::RapidCode::MotionController::NetworkInputFirmwareValueGet
FirmwareValue NetworkInputFirmwareValueGet(int32_t index)
Get the typed value for a PDO input.
RSI::RapidCode::MotionController::NetworkOutputOverrideFirmwareValueGet
FirmwareValue NetworkOutputOverrideFirmwareValueGet(int32_t index)
Gets the typed PDO override value.
RSI::RapidCode::MotionController::CreationParametersGet
CreationParameters CreationParametersGet()
Get the CreationParameters identifying this controller's firmware.
RSI::RapidCode::MotionController::RecorderDataAddressSet
void RecorderDataAddressSet(int32_t index, uint64_t address)
Setup the addresses to be recorded on Recorder 0.
RSI::RapidCode::MotionController::NetworkOutputDataTypeGet
RSIDataType NetworkOutputDataTypeGet(int32_t index)
Get the RSIDataType for a PDO output.
RSI::RapidCode::MotionController::AxisFrameBufferSizeSet
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize)
Set Frame buffer size for the axis.
RSI::RapidCode::MotionController::UserLimitCountMax
int32_t UserLimitCountMax()
Get the total number of User Limits available.
RSI::RapidCode::MotionController::Refresh
void Refresh()
Refresh / reinitialize the motion controller. Required after changing dynamic memory object counts.
RSI::RapidCode::MotionController::Shutdown
void Shutdown()
Shutdown the controller.
RSI::RapidCode::MotionController::UserLimitStateGet
bool UserLimitStateGet(int32_t number)
Get the state of a User Limit.
RSI::RapidCode::MotionController::CompensatorDimensionGet
int32_t CompensatorDimensionGet(int32_t compensatorNumber)
Get the dimension of the compensator.
RSI::RapidCode::MotionController::MemoryBlockGet
void MemoryBlockGet(uint64_t address, void *dataStart, int32_t size)
Read controller memory.
RSI::RapidCode::MotionController::MultiAxisGet
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
RSI::RapidCode::MotionController::AxisCountGet
int32_t AxisCountGet()
Get the number of axes processing.
RSI::RapidCode::MotionController::RecorderPeriodSet
void RecorderPeriodSet(uint32_t samples)
Set the number of samples between records on Recorder 0.
RSI::RapidCode::MotionController::MotionCountGet
int32_t MotionCountGet()
Get the number of Motion Supervisors available in the firmware.
RSI::RapidCode::MotionController::RecorderCountSet
void RecorderCountSet(int32_t recorderCount)
Set the number of processed Recorders in the controller.
RSI::RapidCode::MotionController::NetworkStatusGet
NetworkStatus NetworkStatusGet()
Get the EtherCAT network status.
RSI::RapidCode::MotionController::LoadExistingMultiAxis
MultiAxis * LoadExistingMultiAxis(int32_t motionSupervisorNumber)
Get/Create a MultiAxis object from one that already exists (previously setup) on the RMP motion contr...
RSI::RapidCode::MotionController::MemoryDoubleGet
double MemoryDoubleGet(uint64_t address)
Read a 64-bit double value from controller memory.
RSI::RapidCode::MotionController::CompensatorCountSet
void CompensatorCountSet(int32_t compensatorCount)
Set the number of Compensators available in the firmware.
RSI::RapidCode::MotionController::MotionHoldGateGet
bool MotionHoldGateGet(int32_t gateNumber)
Get the state of the hold gate.
RSI::RapidCode::MotionController::RecorderEnabledGet
bool RecorderEnabledGet()
Determine if the recorder is recording on Recorder 0.
RSI::RapidCode::MotionController::SyncInterruptWait
int32_t SyncInterruptWait()
Suspend the current thread until an interrupt arrives from the controller.
RSI::RapidCode::MotionController::NetworkOutputOverrideGet
bool NetworkOutputOverrideGet(int32_t index)
Gets if the NetworkOutputValue or the RMP cyclic value is exchanged over EtherCAT.
RSI::RapidCode::MotionController::ProcessorUsageClear
void ProcessorUsageClear()
Clear the processor usage percent.
RSI::RapidCode::MotionController::RecorderRecordDataRetrieveBulk
int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount)
Retrieve a group of records of recorded data.
RSI::RapidCode::MotionController::CompensatorConfigSet
void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, int32_t secondInputAxisNumber, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double *const table)
Configure a 2D compensator.
RSI::RapidCode::MotionController::UserLimitCountSet
void UserLimitCountSet(int32_t userLimitCount)
Set the number of processed UserLimits in the MotionController.
RSI::RapidCode::MotionController::RecorderBufferHighCountSet
void RecorderBufferHighCountSet(int32_t bufferHighCount)
Set the high count for the recording buffer on Recorder 0.
RSI::RapidCode::MotionController::CompensatorTableClear
void CompensatorTableClear(int32_t compensatorNumber)
Sets all values in the compensator table to 0.
RSI::RapidCode::MotionController::SerialNumberGet
uint32_t SerialNumberGet(void)
Get the controller's serial number.
RSI::RapidCode::MotionController::StringFromAddressGet
const char *const StringFromAddressGet(uint64_t hostAddress)
Get a human-readable string from a memory address.
RSI::RapidCode::MotionController::InterruptEnableSet
void InterruptEnableSet(bool enable)
Control interrupts for this class.
RSI::RapidCode::MotionController::AxisCountSet
void AxisCountSet(int32_t axisCount)
Set the number of allocated and processed axes in the controller.
RSI::RapidCode::MotionController::NetworkInputDataTypeNameGet
const char *const NetworkInputDataTypeNameGet(int32_t index)
Get the data type name (as a string) of a PDO network input.
RSI::RapidCode::MotionController
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:796
RSI::RapidCode::MotionController::UnsupportedOptionSet
int32_t UnsupportedOptionSet(int32_t option)
deprecated
RSI::RapidCode::MotionController::ControllerTypeGet
RSIControllerType ControllerTypeGet()
Get the type of motion controller.
RSI::RapidCode::MotionController::UserLimitOutputValueGet
int32_t UserLimitOutputValueGet(int32_t number)
Get the user limit output value.
RSI::RapidCode::MotionController::NetworkTimingThresholdHighCountGet
uint32_t NetworkTimingThresholdHighCountGet()
Get the number of network packets that were sent to slowly (above the high threshold).
RSI::RapidCode::MotionController::HasMechaWare
bool HasMechaWare()
Returns true if this RMP firmware supports MechaWare.
RSI::RapidCode::MotionController::UserLimitOutputAddressGet
uint64_t UserLimitOutputAddressGet(int32_t number)
Get the user limit output address. The output will write its value to this address.
RSI::RapidCode::MotionController::UserLimitConditionMaskGet
uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber)
Get the user limit condition mask.
RSI::RapidCode::MotionController::SyncInterruptHostProcessFlagGet
int32_t SyncInterruptHostProcessFlagGet()
Get the host process flag.
RSI::RapidCode::MotionController::NetworkSynchronizedGet
bool NetworkSynchronizedGet()
Returns true if the network is synchronized with distributed clocks.
RSI::RapidCode::MotionController::MotionControllerCountMaximum
static constexpr uint32_t MotionControllerCountMaximum
Maximum number of MotionController objects supported in a single process.
Definition rsi.h:819
RSI::RapidCode::MotionController::NetworkTimingMinGet
uint32_t NetworkTimingMinGet()
Get the minimum microseconds recorded between network packets.
RSI::RapidCode::MotionController::UserLimitConditionAddressGet
uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber)
Get the user limit condition address.
RSI::RapidCode::MotionController::NetworkOutputNameGet
const char *const NetworkOutputNameGet(int32_t index)
Get the name of a PDO output.
RSI::RapidCode::MotionController::ServerPortGet
int32_t ServerPortGet()
Get the TCP port of the server. (Valid if controller type is CLIENT.).
RSI::RapidCode::MotionController::NetworkTimingThresholdLowCountGet
uint32_t NetworkTimingThresholdLowCountGet()
Get the number of network packets that were sent to quickly (below the low threshold).
RSI::RapidCode::MotionController::NetworkTimingMaxGet
uint32_t NetworkTimingMaxGet()
Get the maximum microseconds recorded between consecutive network packets.
RSI::RapidCode::MotionController::NetworkOutputBitSizeGet
int32_t NetworkOutputBitSizeGet(int32_t index)
Get the size (in bits) of a PDO output.
RSI::RapidCode::MotionController::UserLimitOutputAndMask64Get
uint64_t UserLimitOutputAndMask64Get(int32_t number)
Get the user limit output 64-bit AND mask.
RSI::RapidCode::MotionController::UserLimitActionGet
RSIAction UserLimitActionGet(int32_t number)
Get the user limit action.
RSI::RapidCode::MotionController::NetworkSyncGroupRecoverTimeoutMillisecondsDefault
static constexpr uint32_t NetworkSyncGroupRecoverTimeoutMillisecondsDefault
Default per-node AL-transition time to wait when calling NetworkSyncGroupRecover().
Definition rsi.h:813
RSI::RapidCode::MotionController::UserLimitOutputOrMaskGet
uint32_t UserLimitOutputOrMaskGet(int32_t number)
Get the user limit output OR mask.
RSI::RapidCode::MotionController::MathBlockConfigGet
MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber)
Get a MathBlock configuration.
RSI::RapidCode::MotionController::NetworkOutputBitOffsetGet
int32_t NetworkOutputBitOffsetGet(int32_t index)
Get the raw PDO offset for an output.
RSI::RapidCode::MotionController::AxisLicenseCountGet
int32_t AxisLicenseCountGet()
Get the number of licensed Axis objects on this motion controller. If you need more,...
RSI::RapidCode::MotionController::OS
RapidCodeOS * OS
Provides access to operating system (Windows) features.
Definition rsi.h:4379
RSI::RapidCode::MotionController::ServiceThreadStateGet
bool ServiceThreadStateGet()
Returns true if the service thread was started.
RSI::RapidCode::MotionController::RecorderCountMaximum
static constexpr uint32_t RecorderCountMaximum
Maximum number of Recorder objects supported.
Definition rsi.h:832
RSI::RapidCode::MotionController::UserLimitOutputAndMaskGet
uint32_t UserLimitOutputAndMaskGet(int32_t number)
Get the user limit output AND mask.
RSI::RapidCode::MotionController::UserLimitSingleShotGet
bool UserLimitSingleShotGet(int32_t number)
Returns true if the user limit is configured for single-shot.
RSI::RapidCode::MotionController::UserLimitOutputEnableGet
bool UserLimitOutputEnableGet(int32_t number)
Returns true if the user limit output is enabled.
RSI::RapidCode::MotionController::ServerNameGet
const char *const ServerNameGet()
Get the name of the server. (Valid if controller type is CLIENT.).
RSI::RapidCode::MotionController::MechaWareLicenseGet
bool MechaWareLicenseGet()
Returns true if this motion controller is licensed to run MechaWare.
RSI::RapidCode::MotionController::PackageVariantGet
int32_t PackageVariantGet()
Get the motion controller package.
RSI::RapidCode::MotionController::UserLimitConditionLogicGet
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber)
Get the user limit condition logic.
RSI::RapidCode::MotionController::AxisCountMaximum
static constexpr uint32_t AxisCountMaximum
Maximum number of Axis objects supported.
Definition rsi.h:816
RSI::RapidCode::MotionController::UserLimitEnableSet
void UserLimitEnableSet(int32_t number, bool enable)
Enable or disable a user limit to be processed by the RMP firmware.
RSI::RapidCode::MotionController::UserLimitOutputDoubleGet
double UserLimitOutputDoubleGet(int32_t number)
Get the user limit output 64-bit double value.
RSI::RapidCode::MotionController::NetworkStartTimeoutMillisecondsDefault
static constexpr uint32_t NetworkStartTimeoutMillisecondsDefault
Default time to wait when calling NetworkStart().
Definition rsi.h:810
RSI::RapidCode::MotionController::MathBlockProcessValueGet
FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber)
Get a MathBlock process value.
RSI::RapidCode::MotionController::NetworkTimingEnableSet
void NetworkTimingEnableSet(bool enable)
Enable or disable the firmware to start timing the network packets.
RSI::RapidCode::MotionController::LastNetworkStartErrorGet
RSINetworkStartError LastNetworkStartErrorGet()
Get the last (most recent) network start error.
RSI::RapidCode::MotionController::MathBlockConfigSet
void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig &config)
Set a MathBlock configuration.
RSI::RapidCode::MotionController::NetworkInputCountGet
int32_t NetworkInputCountGet()
Get the number of PDO inputs found on the network.
RSI::RapidCode::MotionController::NetworkTimingThresholdHighSet
void NetworkTimingThresholdHighSet(uint32_t microseconds)
Set a high threshold. The RMP will count the number of network packets sent above this threshold (too...
RSI::RapidCode::MotionController::UserLimitInterruptUserDataAddressGet
uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex)
Get the user limit interrupt user data address.
RSI::RapidCode::MotionController::NetworkInputBitSizeGet
int32_t NetworkInputBitSizeGet(int32_t index)
Get the size (in bits) of a network input.
RSI::RapidCode::MotionController::CompensatorCountMaximum
static constexpr uint32_t CompensatorCountMaximum
Maximum number of position Compensator objects supported.
Definition rsi.h:835
RSI::RapidCode::MotionController::NetworkTypeGet
RSINetworkType NetworkTypeGet()
Returns network type. (Currently only STRING type is supported.).
RSI::RapidCode::MotionController::NetworkCounterGet
int32_t NetworkCounterGet()
Read the network counter. This increments by one for each cycle of the network.
RSI::RapidCode::MotionController::UserLimitOutputInputAddressGet
uint64_t UserLimitOutputInputAddressGet(int32_t number)
Get the user limit output address. The user limit will output the value stored at this address when t...
RSI::RapidCode::MotionController::NetworkTechnologyTypeGet
RSINetworkTechnologyType NetworkTechnologyTypeGet()
Get the network technology type EtherCAT.
RSI::RapidCode::MotionController::RecorderRecordDataDoubleGet
double RecorderRecordDataDoubleGet(int32_t index)
This is an overloaded member function, provided for convenience. It differs from the above function o...
RSI::RapidCode::MotionController::UserBufferDataCountMaximum
static constexpr uint32_t UserBufferDataCountMaximum
Maximum number of 64-bit values that can be stored in the UserBuffer.
Definition rsi.h:841
RSI::RapidCode::MotionController::NetworkTimingDeltaGet
uint32_t NetworkTimingDeltaGet()
Get the number of microseconds since the previous network packet was sent.
RSI::RapidCode::MotionController::UserLimitConditionDataTypeGet
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber)
Get the user limit condition data type.
RSI::RapidCode::MotionController::UserLimitConditionLimitValueDoubleGet
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber)
Get the user limit condition limit value (as 64-bit double).
RSI::RapidCode::MotionController::NetworkSyncGroupCountMaximum
static constexpr uint32_t NetworkSyncGroupCountMaximum
Maximum number of EtherCAT sync groups supported, including the mandatory default group 0....
Definition rsi.h:829
RSI::RapidCode::MotionController::UserLimitConditionLimitValueGet
int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber)
Get the user limit condition value.
RSI::RapidCode::MotionController::UserLimitOutputDataTypeGet
RSIDataType UserLimitOutputDataTypeGet(int32_t number)
Get the user limit output data type.
RSI::RapidCode::MotionController::UserLimitAxisNumberGet
int32_t UserLimitAxisNumberGet(int32_t number)
Get the user limit axis number.
RSI::RapidCode::MotionController::MathBlockCountMaximum
static constexpr uint32_t MathBlockCountMaximum
Maximum number of MathBlock objects supported.
Definition rsi.h:838
RSI::RapidCode::MotionController::UserLimitDurationGet
double UserLimitDurationGet(int32_t number)
Get the user limit duration (seconds).
RSI::RapidCode::MotionController::NetworkNodeCountMaximum
static constexpr uint32_t NetworkNodeCountMaximum
Maximum number of nodes allowed on the network.
Definition rsi.h:825
RSI::RapidCode::MotionController::MotionCountMaximum
static constexpr uint32_t MotionCountMaximum
Maximum number of Motion objects supported. (One required for each Axis and MultiAxis).
Definition rsi.h:822
RSI::RapidCode::MotionController::NetworkTimingEnableGet
bool NetworkTimingEnableGet()
Returns true if firmware network packet timing metrics are enabled.
RSI::RapidCode::MotionController::NetworkTimingThresholdLowSet
void NetworkTimingThresholdLowSet(uint32_t microseconds)
Set a low threshold. The RMP will count the number of network packets sent below this threshold (too ...
RSI::RapidCode::MotionController::RecorderRecordDataFirmwareValueGet
FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t index)
This is an overloaded member function, provided for convenience. It differs from the above function o...
RSI::RapidCode::MotionController::UserLimitTriggerTypeGet
RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number)
Get the user limit trigger type.
RSI::RapidCode::MotionController::UserLimitOutputOrMask64Get
uint64_t UserLimitOutputOrMask64Get(int32_t number)
Get the user limit output 64-bit OR mask.
RSI::RapidCode::MotionController::NetworkTimingClear
void NetworkTimingClear()
Clear all the network timing values.
RSI::RapidCode::MotionController::NetworkInputNameGet
const char *const NetworkInputNameGet(int32_t index)
Get the name of a PDO network input.
RSI::RapidCode::MultiAxis::MoveVelocitySCurve
void MoveVelocitySCurve(const double *const velocity, const double *const accel, const double *const jerkPct)
Velocity move with non-constant acceleration.
RSI::RapidCode::MultiAxis::PathListStart
void PathListStart(const double *const startPosition)
Start a line and arc point list for path motion.
RSI::RapidCode::MultiAxis::MoveTrapezoidal
void MoveTrapezoidal(const double *const position, const double *const vel, const double *const accel, const double *const decel)
Point-to-point trapezoidal move.
RSI::RapidCode::MultiAxis::PathMotionStart
void PathMotionStart()
Start the path motion.
RSI::RapidCode::MultiAxis::PathArcAdd
void PathArcAdd(const double *const center, double angle)
Add an arc segment to the path.
RSI::RapidCode::MultiAxis::AxisGet
Axis * AxisGet(int32_t index)
Get the Axis class used in this MultiAxis class.
RSI::RapidCode::MultiAxis::AmpEnableGet
bool AmpEnableGet()
Get the enabled/disabled state of the multi axis.
RSI::RapidCode::MultiAxis::PathRatioSet
void PathRatioSet(const double *const ratio)
Set the scale factor ratios for each axis.
RSI::RapidCode::MultiAxis::VectorJerkPercentGet
double VectorJerkPercentGet()
Get the vector jerk percent.
RSI::RapidCode::MultiAxis::AddressGet
uint64_t AddressGet(RSIMultiAxisAddressType addressType)
Get the host address for some location on the MultiAxis.
RSI::RapidCode::MultiAxis::VectorAccelerationGet
double VectorAccelerationGet()
Get the vector acceleration.
RSI::RapidCode::MultiAxis::PathPlanTypeGet
RSIPathPlanType PathPlanTypeGet()
Get the path motion planning type.
RSI::RapidCode::MultiAxis::UserLabelGet
const char *const UserLabelGet()
Get the MultiAxis User defined Label.
RSI::RapidCode::MultiAxis::UserLabelSet
void UserLabelSet(const char *const userLabel)
Set the MultiAxis User defined Label.
RSI::RapidCode::MultiAxis::VectorVelocityGet
double VectorVelocityGet()
Get the vector velocity.
RSI::RapidCode::MultiAxis::VectorDecelerationGet
double VectorDecelerationGet()
Get the vector deceleration.
RSI::RapidCode::MultiAxis::AxisRemoveAll
void AxisRemoveAll()
Remove all axes from a MultiAxis group.s.
RSI::RapidCode::MultiAxis::AddressDataTypeGet
RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type)
Get the data type for an address of the MultiAxis.
RSI::RapidCode::MultiAxis::MoveRelative
void MoveRelative(const double *const relativePosition, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
Command a relative point-to-point S-Curve motion.
RSI::RapidCode::MultiAxis::VectorDecelerationSet
void VectorDecelerationSet(double deceleration)
Set the vector deceleration.
RSI::RapidCode::MultiAxis::MoveVector
void MoveVector(const double *const position)
Point-to-point vector move.
RSI::RapidCode::MultiAxis::PathPlanTypeSet
void PathPlanTypeSet(RSIPathPlanType type)
Set the path motion planning type.
RSI::RapidCode::MultiAxis::MoveVectorRelative
void MoveVectorRelative(const double *const relativePosition)
RSI::RapidCode::MultiAxis::MoveSCurve
void MoveSCurve(const double *const position, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
Point-to-point S-Curve Move.
RSI::RapidCode::MultiAxis::PathLineAdd
void PathLineAdd(const double *const position)
Add a line segment to the path.
RSI::RapidCode::MultiAxis::AxesAdd
void AxesAdd(Axis **axes, int32_t axisCount)
RSI::RapidCode::MultiAxis::PathTimeSliceSet
void PathTimeSliceSet(double seconds)
Set the time slice for the Path.
RSI::RapidCode::MultiAxis::PathBlendSet
void PathBlendSet(bool blend)
Set the blending attribute.
RSI::RapidCode::MultiAxis::VectorAccelerationSet
void VectorAccelerationSet(double acceleration)
Set the vector acceleration.
RSI::RapidCode::MultiAxis::MoveVelocity
void MoveVelocity(const double *const velocity, const double *const accel)
Velocity move.
RSI::RapidCode::MultiAxis::MotionElementIdExecutingGet
uint16_t MotionElementIdExecutingGet()
RSI::RapidCode::MultiAxis::VectorJerkPercentSet
void VectorJerkPercentSet(double jerkPercent)
Set the jerk percent for a vector move.
RSI::RapidCode::MultiAxis::PathRatioGet
double PathRatioGet(int32_t index)
RSI::RapidCode::MultiAxis::PathListEnd
void PathListEnd()
End a line and arc point list for path motion.
RSI::RapidCode::MultiAxis::AxisAdd
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
RSI::RapidCode::MultiAxis::PathTimeSliceGet
double PathTimeSliceGet()
Set the time slice for the Path.
RSI::RapidCode::MultiAxis::VectorVelocitySet
void VectorVelocitySet(double velocity)
Set the vector velocity.
RSI::RapidCode::MultiAxis
Represents multiple axes of motion control, allows you to map two or more Axis objects together for e...
Definition rsi.h:11485
RSI::RapidCode::MultiAxis::AxisMapCountGet
int32_t AxisMapCountGet()
Get the number of Axis objects in the Axis map.
RSI::RapidCode::NetworkNode::StatusGet
Status StatusGet()
Get the node's status details.
RSI::RapidCode::NetworkNode::DigitalOutSet
void DigitalOutSet(int32_t digitalOutNumber, bool state)
Set the state of a digital output.
RSI::RapidCode::NetworkNode::ServiceChannelWrite
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds=SDOTimeoutMillisecondsDefault)
Write a number in the SDO.
RSI::RapidCode::NetworkNode::DigitalInGet
bool DigitalInGet(int32_t digitalInNumber)
Get the state of a digital input.
RSI::RapidCode::NetworkNode::DigitalOutAddressGet
uint64_t DigitalOutAddressGet(int32_t bitNumber)
Get the host address for a Node's digital output.
RSI::RapidCode::NetworkNode::ServiceChannelReadString
const char *const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds=SDOTimeoutMillisecondsDefault)
Read a string from the SDO.
RSI::RapidCode::NetworkNode::ServiceChannelReadBytes
RapidVector< uint8_t > ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds)
Read a number of bytes from the SDO.
RSI::RapidCode::NetworkNode::AnalogInAddressGet
uint64_t AnalogInAddressGet(int32_t channel)
Get the host address for a Node's analog input.
RSI::RapidCode::NetworkNode::DigitalInCountGet
int32_t DigitalInCountGet()
Get the number of digital inputs on this node.
RSI::RapidCode::NetworkNode::HasIO
bool HasIO()
Check if the node has any analog or digital inputs or outputs.
RSI::RapidCode::NetworkNode::VendorNameGet
const char *const VendorNameGet()
Get the node's vendor name from NodeInfo.xml or CustomNodeInfo.xml.
RSI::RapidCode::NetworkNode::AnalogInMaskGet
int32_t AnalogInMaskGet(int32_t channel)
Get the bitwise mask for a Node's analog input.
RSI::RapidCode::NetworkNode::ConfigSet
void ConfigSet(const Config &config)
Set the node's configuration.
RSI::RapidCode::NetworkNode::AnalogOutNetworkIndexGet
int32_t AnalogOutNetworkIndexGet(int32_t analogChannel)
Get the global network output index for a node's analog output channel.
RSI::RapidCode::NetworkNode::DigitalInMaskGet
int32_t DigitalInMaskGet(int32_t bitNumber)
Get the bitwise mask for a Node's digital input.
RSI::RapidCode::NetworkNode::DigitalOutNetworkIndexGet
int32_t DigitalOutNetworkIndexGet(int32_t digitalOutNumber)
Get the global network output index for a node's digital output channel.
RSI::RapidCode::NetworkNode::AnalogInGet
int32_t AnalogInGet(int32_t analogChannel)
Get the value of an analog input.
RSI::RapidCode::NetworkNode::DigitalOutMaskGet
int32_t DigitalOutMaskGet(int32_t bitNumber)
Get the bitwise mask for a Node's digital output.
RSI::RapidCode::NetworkNode::ServiceChannelRead
int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds=SDOTimeoutMillisecondsDefault)
Read a 32-bit integer value from the SDO.
RSI::RapidCode::NetworkNode::DigitalInAddressGet
uint64_t DigitalInAddressGet(int32_t bitNumber)
Get the host address for a Node's digital input.
RSI::RapidCode::NetworkNode::DigitalOutGet
bool DigitalOutGet(int32_t digitalOutNumber)
Get the state of a digital output.
RSI::RapidCode::NetworkNode::AKDASCIICommand
char * AKDASCIICommand(const char *const command)
Send a Kollmorgen AKD ASCII command (NodeType must equal KOLLMORGEN_AKD).
RSI::RapidCode::NetworkNode::NameGet
const char *const NameGet()
Get the Node's Short Name that appears on NodeInfo.xml.
RSI::RapidCode::NetworkNode::ProductNameGet
const char *const ProductNameGet()
Get the node's product name from NodeInfo.xml or CustomNodeInfo.xml.
RSI::RapidCode::NetworkNode::AnalogOutGet
int32_t AnalogOutGet(int32_t analogChannel)
Get the value of an analog output.
RSI::RapidCode::NetworkNode::AnalogInCountGet
int32_t AnalogInCountGet()
Get the number of analog inputs on this node.
RSI::RapidCode::NetworkNode::DigitalOutCountGet
int32_t DigitalOutCountGet()
Get the number of digital outputs on this node.
RSI::RapidCode::NetworkNode::DigitalInNetworkIndexGet
int32_t DigitalInNetworkIndexGet(int32_t digitalInNumber)
Get the global network input index for a node's digital input channel.
RSI::RapidCode::NetworkNode::ConfigGet
Config ConfigGet()
Get the node's configuration.
RSI::RapidCode::NetworkNode::AnalogInNetworkIndexGet
int32_t AnalogInNetworkIndexGet(int32_t analogChannel)
Get the global network input index for a node's analog input channel.
RSI::RapidCode::NetworkNode::AnalogOutCountGet
int32_t AnalogOutCountGet()
Get the number of analog outputs on this node.
RSI::RapidCode::NetworkNode::StatusClear
void StatusClear()
Clear the node's status values.
RSI::RapidCode::NetworkNode::AnalogOutSet
void AnalogOutSet(int32_t analogChannel, int32_t analogValue)
Set the value of an analog output.
RSI::RapidCode::NetworkNode::AnalogOutAddressGet
uint64_t AnalogOutAddressGet(int32_t channel)
Get the host address for a Node's analog output.
RSI::RapidCode::NetworkNode::AnalogOutMaskGet
int32_t AnalogOutMaskGet(int32_t channel)
Get the bitwise mask for a Node's analog output.
RSI::RapidCode::NetworkNode::RevisionGet
uint32_t RevisionGet()
Get the EtherCAT hardware revision.
RSI::RapidCode::NetworkNode::AxisCountGet
uint32_t AxisCountGet()
Get the number of Axis objects associated with this NetworkNode.
RSI::RapidCode::NetworkNode::SegmentDigitalOutCountGet
int32_t SegmentDigitalOutCountGet(int32_t segmentNumber)
Get the number of digital outputs on a segment.
RSI::RapidCode::NetworkNode::SegmentIDGet
int32_t SegmentIDGet(int32_t segmentNumber)
Get the ID number of a segment.
RSI::RapidCode::NetworkNode::ProductCodeGet
uint32_t ProductCodeGet()
Get the EtherCAT product code.
RSI::RapidCode::NetworkNode::StatusWordGet
uint16_t StatusWordGet(int32_t axisIndex)
Get the DS402 status word.
RSI::RapidCode::NetworkNode::SegmentCountGet
int32_t SegmentCountGet()
Get the number of segments on this node.
RSI::RapidCode::NetworkNode::SegmentAnalogOutCountGet
int32_t SegmentAnalogOutCountGet(int32_t segmentNumber)
Get the number of analog outputs on a segment.
RSI::RapidCode::NetworkNode::IsEtherCAT
bool IsEtherCAT()
Check if the node is EtherCAT.
RSI::RapidCode::NetworkNode::SegmentAnalogInCountGet
int32_t SegmentAnalogInCountGet(int32_t segmentNumber)
Get the number of analog inputs on a segment.
RSI::RapidCode::NetworkNode::SDOTimeoutMillisecondsDefault
static constexpr uint32_t SDOTimeoutMillisecondsDefault
Default time to wait when reading or writing an SDO with ServiceChannelRead() or ServiceChannelWrite(...
Definition rsi.h:4396
RSI::RapidCode::NetworkNode::VendorIdGet
uint32_t VendorIdGet()
Get the EtherCAT vendor ID.
RSI::RapidCode::NetworkNode::IsSynqNet
bool IsSynqNet()
Check if the node is SynqNet.
RSI::RapidCode::NetworkNode::ClearFaults
void ClearFaults(int32_t axisNumber)
Clear the faults for a specific axis number on this node.
RSI::RapidCode::NetworkNode::Exists
bool Exists()
Returns true if this NetworkNode exists on a physical network.
RSI::RapidCode::NetworkNode::SegmentDigitalInCountGet
int32_t SegmentDigitalInCountGet(int32_t segmentNumber)
Get the number of digital inputs on a segment.
RSI::RapidCode::NetworkNode::TypeGet
RSINodeType TypeGet()
Get the node type, as determined by the Vendor ID and Product Code.
RSI::RapidCode::NetworkNode::StationAliasGet
uint32_t StationAliasGet()
Get the EtherCAT station alias.
RSI::RapidCode::NetworkNode::SerialNumberGet
const char *const SerialNumberGet()
Get the serial number as text.
RSI::RapidCode::RTOS::INtimeCatalogRMPNetworkGet
static const char *const INtimeCatalogRMPNetworkGet()
Get the RMPNetwork catalog.
RSI::RapidCode::RTOS::INtimeStatusGet
static INtimeStatus INtimeStatusGet(const char *const nodeName)
Get the status of INtime.
RSI::RapidCode::RTOS::INtimeStart
static INtimeStatus INtimeStart()
Start INtime.
RSI::RapidCode::RTOS::INtimeRestart
static INtimeStatus INtimeRestart(const char *const nodeName)
Restart INtime (reboot INtime).
RSI::RapidCode::RTOS::INtimeNodeCountGet
static uint32_t INtimeNodeCountGet()
Get the number of INtime nodes on this PC.
RSI::RapidCode::RTOS::INtimeCatalogRMPGet
static const char *const INtimeCatalogRMPGet()
Get the RMP catalog.
RSI::RapidCode::RTOS::INtimeStart
static INtimeStatus INtimeStart(const char *const nodeName)
Start INtime.
RSI::RapidCode::RTOS::INtimeStatusGet
static INtimeStatus INtimeStatusGet()
Get the status of INtime.
RSI::RapidCode::RTOS::INtimeNodeIsLocal
static bool INtimeNodeIsLocal(uint32_t nodeNumber)
Determine if an INtime node is local (on this PC) or distributed (on another PC).
RSI::RapidCode::RTOS::INtimeStop
static INtimeStatus INtimeStop(const char *const nodeName)
Stop INtime.
RSI::RapidCode::RTOS::INtimeNodeNameGet
static const char *const INtimeNodeNameGet(uint32_t nodeNumber)
Get the name of an INtime node.
RSI::RapidCode::RTOS::INtimeRestart
static INtimeStatus INtimeRestart()
Restart INtime (reboot INtime).
RSI::RapidCode::RTOS::INtimeStop
static INtimeStatus INtimeStop()
Stop INtime.
RSI::RapidCode::RTOS
Represents the real-time operating system (INtime) when using RMP for Windows. This class provides st...
Definition rsi.h:12509
RSI::RapidCode::RapidCodeInterrupt::InterruptUserDataDoubleGet
double InterruptUserDataDoubleGet(uint32_t userDataIndex)
Get the user data associated with the interrupt, as a 64-bit double.
RSI::RapidCode::RapidCodeInterrupt::InterruptUserDataAddressGet
uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex)
Get the 64-bit host address from the interrupt's UserData.
RSI::RapidCode::RapidCodeInterrupt::InterruptSourceNumberGet
int32_t InterruptSourceNumberGet()
Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
RSI::RapidCode::RapidCodeInterrupt::InterruptSampleTimeGet
int32_t InterruptSampleTimeGet()
Get the sample timer value when the last interrupt was generated.
RSI::RapidCode::RapidCodeInterrupt::InterruptNameGet
const char *const InterruptNameGet()
Get the text name of an interrupt type.
RSI::RapidCode::RapidCodeInterrupt::InterruptUserDataValueGet
FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex)
Read the user data associated with the interrupt as a FirmwareValue.
RSI::RapidCode::RapidCodeInterrupt::InterruptUserDataAddressSet
void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress)
Set the interrupt's UserData address.
RSI::RapidCode::RapidCodeInterrupt::InterruptUserDataGet
uint64_t InterruptUserDataGet(uint32_t userDataIndex)
Get the user data associated with the interrupt, as a 64-bit unsigned integer.
RSI::RapidCode::RapidCodeInterrupt::InterruptWait
RSIEventType InterruptWait(int32_t milliseconds)
Suspend the current thread until an interrupt arrives from the controller.
RSI::RapidCode::RapidCodeInterrupt
Interface for objects which can use interrupts.
Definition rsi.h:590
RSI::RapidCode::RapidCodeInterrupt::InterruptWake
void InterruptWake()
Wake any and all threads waiting for interrupts.
RSI::RapidCode::RapidCodeInterrupt::InterruptMaskClear
void InterruptMaskClear()
Clear the interrupt mask so no interrupts will be generated.
RSI::RapidCode::RapidCodeInterrupt::InterruptMotionIdGet
uint16_t InterruptMotionIdGet()
Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
RSI::RapidCode::RapidCodeInterrupt::InterruptMaskOnSet
void InterruptMaskOnSet(RSIEventType eventType)
Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
RSI::RapidCode::RapidCodeInterrupt::InterruptMaskOffSet
void InterruptMaskOffSet(RSIEventType eventType)
Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
RSI::RapidCode::RapidCodeInterrupt::InterruptMaskAllSet
void InterruptMaskAllSet()
Set all the bits of the interrupt mask to get interrupts for ALL sources.
RSI::RapidCode::RapidCodeInterrupt::InterruptMaskOnGet
bool InterruptMaskOnGet(RSIEventType eventType)
Get the status of the interrupt mask for the given RSIEventType.
RSI::RapidCode::RapidCodeInterrupt::InterruptEnableSet
void InterruptEnableSet(bool enable)
Enable or disable interrupts.
RSI::RapidCode::RapidCodeMotion::ClearFaults
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisPositionSet
void MotionHoldAxisPositionSet(double position)
Sets the Axis position.
RSI::RapidCode::RapidCodeMotion::InterruptWake
void InterruptWake()
Wake all threads waiting for an interrupt on this Axis.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateGet
bool MotionHoldGateGet()
Get the state of the hold gate.
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisPositionGet
double MotionHoldAxisPositionGet()
Gets the Axis position.
RSI::RapidCode::RapidCodeMotion::MotionDelayGet
double MotionDelayGet()
Get the delay (seconds) that will occur before motion starts.
RSI::RapidCode::RapidCodeMotion::Abort
void Abort()
Abort an axis.
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisNumberGet
int32_t MotionHoldAxisNumberGet()
Gets the Axis number.
RSI::RapidCode::RapidCodeMotion::StopTimeSet
void StopTimeSet(double seconds)
Set the deceleration time for a Stop Event.
RSI::RapidCode::RapidCodeMotion::MotionDelaySet
void MotionDelaySet(double seconds)
Set the time (seconds) that a motion will wait before starting.
RSI::RapidCode::RapidCodeMotion::EStop
void EStop()
E-Stop an axis.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserMaskSet
void MotionHoldUserMaskSet(int32_t holdMask)
Sets the Motion Hold User bit mask.
RSI::RapidCode::RapidCodeMotion::EStopTimeGet
double EStopTimeGet()
Get E-Stop Event deceleration time.
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskOnGet
bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn)
Check to see if a particular motion attribute mask is turned on.
RSI::RapidCode::RapidCodeMotion::Map
void Map()
Writes the axis mapping relationship to the Controller.
RSI::RapidCode::RapidCodeMotion::StreamingOutputAdd
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address)
RSI::RapidCode::RapidCodeMotion::AmpEnableGet
bool AmpEnableGet()
Get the enabled state of all amplifiers.
RSI::RapidCode::RapidCodeMotion::MovePVTF
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.
RSI::RapidCode::RapidCodeMotion::FeedRateGet
double FeedRateGet()
Get the axis feed rate.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserPatternSet
void MotionHoldUserPatternSet(int32_t pattern)
Sets the Motion Hold User pattern bit mask.
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskOffSet
void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff)
Turn off a particular motion attribute mask.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserAddressGet
uint64_t MotionHoldUserAddressGet()
Gets the Motion Hold User Address.
RSI::RapidCode::RapidCodeMotion::MotionHoldTypeSet
void MotionHoldTypeSet(RSIMotionHoldType type)
Set the motion hold type.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateNumberGet
int32_t MotionHoldGateNumberGet()
Returns the Motion Hold Gate number that the axis or multiaxis is set to.
RSI::RapidCode::RapidCodeMotion::TriggeredModify
void TriggeredModify()
Modify the currently executing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE sta...
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisNumberSet
void MotionHoldAxisNumberSet(int32_t number)
Sets the Axis number for Motion Hold.
RSI::RapidCode::RapidCodeMotion::SourceNameGet
const char *const SourceNameGet(RSISource source)
Get the name (string) of the source of an error for an Axis or MultiAxis.
RSI::RapidCode::RapidCodeMotion::MotionIdSet
void MotionIdSet(uint16_t id)
Set the Motion identifier.
RSI::RapidCode::RapidCodeMotion::StatusBitGet
bool StatusBitGet(RSIEventType bitMask)
Return the state of a status bit.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserMaskGet
int32_t MotionHoldUserMaskGet()
Gets the Motion Hold User Mask.
RSI::RapidCode::RapidCodeMotion::EStopTimeSet
void EStopTimeSet(double seconds)
Set the deceleration time for an E-Stop Event.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserPatternGet
int32_t MotionHoldUserPatternGet()
Gets the Motion Hold user bit pattern.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateNumberSet
void MotionHoldGateNumberSet(int32_t gateNumber)
Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate.
RSI::RapidCode::RapidCodeMotion::MotionHoldTypeGet
RSIMotionHoldType MotionHoldTypeGet()
Get the motion hold attribute type.
RSI::RapidCode::RapidCodeMotion::MotionDoneWait
int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds=WaitForever)
Waits for a move to complete.
RSI::RapidCode::RapidCodeMotion::StateGet
RSIState StateGet()
Get the Axis or MultiAxis state.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserAddressSet
void MotionHoldUserAddressSet(uint64_t address)
Sets the Motion Hold User Address.
RSI::RapidCode::RapidCodeMotion::Resume
void Resume()
Resume an axis.
RSI::RapidCode::RapidCodeMotion::StreamingOutputsClear
void StreamingOutputsClear()
Clear the contents of the Streaming Output List.
RSI::RapidCode::RapidCodeMotion::StatusBitsGet
uint64_t StatusBitsGet()
Return all the RMP firmware status bits as a 64-bit unsigned bitmask.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateSet
void MotionHoldGateSet(bool hold)
Set the Motion Hold Gate.
RSI::RapidCode::RapidCodeMotion::StreamingOutputsEnableSet
void StreamingOutputsEnableSet(bool enable)
Sets whether Streaming Output is enabled (true) or disabled (false).
RSI::RapidCode::RapidCodeMotion::AmpEnableSet
int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds=AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState=false)
Enable all amplifiers.
RSI::RapidCode::RapidCodeMotion::FeedRateSet
void FeedRateSet(double rate)
Set the feed rate for an Axis.
RSI::RapidCode::RapidCodeMotion::MotionHoldTimeoutGet
double MotionHoldTimeoutGet()
Get the motion hold timeout value.
RSI::RapidCode::RapidCodeMotion::MotionHoldTimeoutSet
void MotionHoldTimeoutSet(double seconds)
Set the motion hold timeout value.
RSI::RapidCode::RapidCodeMotion::MotionFinalVelocitySet
void MotionFinalVelocitySet(double finalVelocity)
Sets final velocity value in UserUnits (!!! only used if FINAL_VEL motion attribute is used !...
RSI::RapidCode::RapidCodeMotion::NumberGet
int32_t NumberGet()
Get the axis number.
RSI::RapidCode::RapidCodeMotion::SourceGet
RSISource SourceGet()
Get the source of an error state for an Axis or MultiAxis.
RSI::RapidCode::RapidCodeMotion::MotionIdGet
uint16_t MotionIdGet()
Get the motion identifier.
RSI::RapidCode::RapidCodeMotion::EStopModify
void EStopModify()
E-Stop with a deceleration rate.
RSI::RapidCode::RapidCodeMotion::MovePVT
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.
RSI::RapidCode::RapidCodeMotion::Unmap
void Unmap()
Removes the axis mapping relationship of the MultiAxis.
RSI::RapidCode::RapidCodeMotion::MovePT
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.
RSI::RapidCode::RapidCodeMotion::MovePTF
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.
RSI::RapidCode::RapidCodeMotion::IsMapped
bool IsMapped()
Check to see if the axis mapping is active on the firmware.
RSI::RapidCode::RapidCodeMotion::MotionDoneGet
bool MotionDoneGet()
Check to see if motion is done and settled.
RSI::RapidCode::RapidCodeMotion::StopTimeGet
double StopTimeGet()
Get Stop Event deceleration time.
RSI::RapidCode::RapidCodeMotion::AxisCountGet
int32_t AxisCountGet()
Get the axis count.
RSI::RapidCode::RapidCodeMotion::EStopAbort
void EStopAbort()
E-Stop, then abort an axis.
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskOnSet
void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn)
Turn on a particular motion attribute mask.
RSI::RapidCode::RapidCodeMotion::MotionFinalVelocityGet
double MotionFinalVelocityGet()
Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!...
RSI::RapidCode::RapidCodeMotion::MovePVAJT
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)
RSI::RapidCode::RapidCodeMotion::InterruptEnableSet
void InterruptEnableSet(bool enable)
Control interrupts for this class.
RSI::RapidCode::RapidCodeMotion
The RapidCodeMotion interface is implemented by Axis and MultiAxis .
Definition rsi.h:4973
RSI::RapidCode::RapidCodeMotion::AmpEnableTimeoutMillisecondsDefault
static constexpr int32_t AmpEnableTimeoutMillisecondsDefault
Default timeout in milliseconds for AmpEnableSet() to wait for AMP_ACTIVE / OPERATION_ENABLED to go h...
Definition rsi.h:4977
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisLogicGet
RSIUserLimitLogic MotionHoldAxisLogicGet()
Get the logic when holding for Axis ActualPosition.
RSI::RapidCode::RapidCodeMotion::MotionIdExecutingGet
uint16_t MotionIdExecutingGet()
Get the currently executing motion ID.
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4989
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisLogicSet
void MotionHoldAxisLogicSet(RSIUserLimitLogic logic)
Set the logic when holding for Axis ActualPosition.
RSI::RapidCode::RapidCodeMotion::WaitForever
static constexpr int32_t WaitForever
Use this value to wait indefinitely in methods which accept a waitTimeoutMilliseconds parameter.
Definition rsi.h:4980
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskDefaultSet
void MotionAttributeMaskDefaultSet()
Restore the motion attribute mask to the RapidCode default.
RSI::RapidCode::RapidCodeMotion::MotionElementIdExecutingGet
uint16_t MotionElementIdExecutingGet()
Get the currently executing element ID (streaming motion).
RSI::RapidCode::RapidCodeOS::Sleep
void Sleep(int32_t milliseconds)
Put the current thread to sleep.
RSI::RapidCode::RapidCodeOS::KeyGet
int32_t KeyGet(int32_t milliseconds)
Wait for a key to be pressed and return its value.
RSI::RapidCode::RapidCodeOS::PerformanceTimerFrequencyGet
int32_t PerformanceTimerFrequencyGet()
Gets the frequency of the performance counter.
RSI::RapidCode::RapidCodeOS::PerformanceTimerCountGet
int32_t PerformanceTimerCountGet()
Gets the current high performance counter value.
RSI::RapidCode::RapidCodeOS::TimerFrequencyGet
int32_t TimerFrequencyGet()
Get the number milliseconds per second.
RSI::RapidCode::RapidCodeOS::TimerCountGet
int32_t TimerCountGet()
Gets the time since startup.
RSI::RapidCode::RapidCodeOS
The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionC...
Definition rsi.h:493
RSI::RapidCode::RapidCodeObject::Trace
void Trace(bool state)
Enables/Disables trace output.
RSI::RapidCode::RapidCodeObject::TraceInjectMessage
void TraceInjectMessage(RSITrace traceLevel, const char *const message)
Add a message to the Trace Log.
RSI::RapidCode::RapidCodeObject::TraceMaskOnGet
bool TraceMaskOnGet(RSITrace maskOn)
Check to see if a particular trace output mask is turned on.
RSI::RapidCode::RapidCodeObject::TraceMaskOnSet
void TraceMaskOnSet(RSITrace maskOn)
Turn on a particular trace output mask.
RSI::RapidCode::RapidCodeObject::TraceMaskClear
void TraceMaskClear()
Clear the trace output mask.
RSI::RapidCode::RapidCodeObject::ThrowExceptions
void ThrowExceptions(bool state)
Configure a class to throw exceptions.
RSI::RapidCode::RapidCodeObject::ErrorLogClear
void ErrorLogClear()
Clear the error log.
RSI::RapidCode::RapidCodeObject::ErrorLogGet
const RsiError *const ErrorLogGet()
Get the next RsiError in the log.
RSI::RapidCode::RapidCodeObject::TraceFileSet
void TraceFileSet(const char *const fileName)
Channels Tracing messages to specified file.
RSI::RapidCode::RapidCodeObject::TraceMaskOffSet
void TraceMaskOffSet(RSITrace maskOff)
Turn off a particular trace output mask.
RSI::RapidCode::RapidCodeObject::VersionGet
const char *const VersionGet()
Get the RSI RapidCode version.
RSI::RapidCode::RapidCodeObject::NumberGet
int32_t NumberGet()
Get the zero-based index of this object.
RSI::RapidCode::RapidCodeObject::TraceFileClose
void TraceFileClose()
Stops Logging to the file.
RSI::RapidCode::RapidCodeObject::ErrorLogCountGet
int32_t ErrorLogCountGet()
Get the number of software errors in the error log.
RSI::RapidCode::RapidCodeObject
The RapidCode base class. All non-error objects are derived from this class.
Definition rsi.h:180
RSI::RapidCode::RapidCodeObject::RSIVersionPatch
int32_t RSIVersionPatch()
Get the patch RSI version.
RSI::RapidCode::RapidCodeObject::MpiVersionRelease
int32_t MpiVersionRelease()
Get the release MPI version.
RSI::RapidCode::RapidCodeObject::MpiVersionMinor
int32_t MpiVersionMinor()
Get the minor MPI version.
RSI::RapidCode::RapidCodeObject::ErrorMessageGet
const char *const ErrorMessageGet(RSIErrorMessage msg)
Get the detailed text message for an RSIErrorMessage.
RSI::RapidCode::RapidCodeObject::RSIVersionMicro
int32_t RSIVersionMicro()
Get the micro RSI version.
RSI::RapidCode::RapidCodeObject::RsiErrorMessageGet
const char *const RsiErrorMessageGet(RSIErrorMessage msg)
Get the RSI-specific error message text for a specific RSIErrorMessage.
RSI::RapidCode::RapidCodeObject::RSIVersionMinor
int32_t RSIVersionMinor()
Get the minor RSI version.
RSI::RapidCode::RapidCodeObject::RSIVersionMajor
int32_t RSIVersionMajor()
Get the major RSI version.
RSI::RapidCode::RapidCodeObject::MpiVersionMajor
int32_t MpiVersionMajor()
Get the major MPI version.
RSI::RapidCode::RapidCodeObject::WarningMsgCheck
bool WarningMsgCheck(RSIErrorMessage msg)
Check to see if an RSIErrorMessage is a warning (true) or not (false).
RSI::RapidCode::RapidVector::Reserve
void Reserve(const size_t capacity)
Increases the size of the allocated storage of the vector to at least the specified size.
RSI::RapidCode::RapidVector::Size
const size_t Size() const
Returns the number of elements in the vector.
RSI::RapidCode::RapidVector::operator[]
const Type & operator[](const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::Back
const Type & Back() const
Returns a const reference to the last element in the vector.
RSI::RapidCode::RapidVector::PushBack
void PushBack(Type &&element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::begin
Iterator begin() noexcept
Returns a RapidVectorIterator to the first element of the vector. The naming convention follows STL c...
RSI::RapidCode::RapidVector::Front
Type & Front()
Returns a reference to the first element in the vector.
RSI::RapidCode::RapidVector::end
Iterator end() const noexcept
Returns a RapidVectorIterator to the element following the last element of the vector....
RSI::RapidCode::RapidVector::Front
const Type & Front() const
Returns a const reference to the first element in the vector.
RSI::RapidCode::RapidVector::At
const Type & At(const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::PushBack
void PushBack(const Type &element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::Back
Type & Back()
Returns a reference to the last element in the vector.
RSI::RapidCode::RapidVector::operator[]
Type & operator[](const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::At
Type & At(const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector
A wrapper class for the C++ STL vector class that aims to maintain application binary interface....
Definition rsi.h:13102
RSI::RapidCode::RapidVector::RapidVector
RapidVector(RapidVector &&other) noexcept
Move constructor. Replaces contents with those of the other RapidVector.
RSI::RapidCode::RapidVector::Iterator
RapidVectorIterator< RapidVector > Iterator
The iterator type for this RapidVector.
Definition rsi.h:13203
RSI::RapidCode::RapidVector::~RapidVector
~RapidVector()
Destructs the vector and deallocates used storage.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(const RapidVector &other)
Copy assignment operator. Replaces contents with the contents of the other RapidVector.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const RapidVector &other)
Copy constructor. Constructs a RapidVector as a deep-copy.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(RapidVectorImplementation< Type > *)
Constructs a RapidVector with the given implementation. Intended for RSI internal use only.
RSI::RapidCode::RapidVector::Clear
void Clear()
Erases all elements from the vector.
RSI::RapidCode::RapidVector::PopBack
void PopBack()
Removes the last element from the container. Calling PopBack() on an empty container results in undef...
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const size_t size)
Constructs a vector with the specified size.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(RapidVector &&other) noexcept
Move assignment operator. Replaces contents with those of the other RapidVector. The original content...
RSI::RapidCode::RapidVector::RapidVector
RapidVector()
Default constructor that constructs an empty vector.
RSI::RapidCode::RsiError::RsiError
RsiError(const RsiError &copyFrom)
Copy constructor for RsiError.
Definition rsi.h:146
RSI::RapidCode::RsiError
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:111
RSI::RapidCode::RsiError::fileName
char fileName[RSI_ERROR_TEXT_SIZE]
source file name
Definition rsi.h:129
RSI::RapidCode::RsiError::isWarning
bool isWarning
Whether the error is or is not a warning.
Definition rsi.h:120
RSI::RapidCode::RsiError::RSI_ERROR_TEXT_SIZE
static constexpr uint32_t RSI_ERROR_TEXT_SIZE
Error message text.
Definition rsi.h:122
RSI::RapidCode::RsiError::what
const char * what() const noexcept
Returns a null terminated character sequence that may be used to identify the exception.
Definition rsi.h:169
RSI::RapidCode::RsiError::shortText
char shortText[RSI_ERROR_TEXT_SIZE]
Error short text.
Definition rsi.h:127
RSI::RapidCode::RsiError::lineNumber
int32_t lineNumber
Source code line number.
Definition rsi.h:116
RSI::RapidCode::RsiError::functionName
char functionName[RSI_ERROR_TEXT_SIZE]
Function name of the raised the error.
Definition rsi.h:125
RSI::RapidCode::RsiError::number
RSIErrorMessage number
Error number.
Definition rsi.h:114
RSI::RapidCode::RsiError::objectIndex
int32_t objectIndex
Object index (0-based index of the object that has the error).
Definition rsi.h:118
RSI::RapidCode::Trace::MaskSet
static void MaskSet(RSITrace mask)
Sets the specified trace mask.
RSI::RapidCode::Trace::MaskOnSet
static void MaskOnSet(RSITrace maskOn)
Turn on a particular trace output mask.
RSI::RapidCode::Trace::InjectMessage
static void InjectMessage(RSITrace traceLevel, const char *const message)
Add a message to the Trace Log.
RSI::RapidCode::Trace::MaskOnGet
static bool MaskOnGet(RSITrace maskOn)
Check to see if a particular trace output mask is turned on.
RSI::RapidCode::Trace::MaskOffSet
static void MaskOffSet(RSITrace maskOff)
Turn off a particular trace output mask.
RSI::RapidCode::Trace::FileClose
static void FileClose()
Stops Logging to the file.
RSI::RapidCode::Trace::FileSet
static int32_t FileSet(const char *const fileName)
Channels Tracing messages to specified file.
RSI::RapidCode::Trace::MaskClear
static void MaskClear()
Clear the trace output mask.
RSI::RapidCode::Trace
Tracing allows for low level logs to be generated.
Definition rsi.h:12585
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1243
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1574
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1548
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1554
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:301
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1542
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:655
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1230
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:589
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1333
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1223
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:617
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:405
RSI::RapidCode::RSIMotorDisableAction
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1403
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:1045
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1122
RSI::RapidCode::RSINetworkSyncGroupState
RSINetworkSyncGroupState
State of an EtherCAT sync group (a set of nodes sharing one WKC-tolerant cyclic datagram).
Definition rsienums.h:638
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:730
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:717
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1349
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1199
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:447
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:295
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1339
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1395
RSI::RapidCode::RSINetworkInterfaceType
RSINetworkInterfaceType
Network host interface type used for EtherCAT frame I/O.
Definition rsienums.h:1469
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:661
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:996
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1144
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:510
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1252
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:704
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1535
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1480
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1179
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:284
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1383
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:397
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1409
RSI::RapidCode::RSIErrorMessage
RSIErrorMessage
All possible RSI Error Messages.
Definition rsienums.h:17
RSI::RapidCode::RSIErrorMessage::RSIMessageOK
@ RSIMessageOK
Definition rsienums.h:107
RSI::RapidCode::RSINetworkType
RSINetworkType
Type of Network topology.
Definition rsienums.h:697
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1312
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1217
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:750
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:1094
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:968
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1237
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:990
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1415
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1138
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1436
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network PDO index types for configuring axis input/output mappings.
Definition rsienums.h:1513
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:647
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1273
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:958
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1302
Config
This namespace provides static methods and constants for user configuration in RMP applications....
Definition config.h:25
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:972
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMaximum
static constexpr int32_t RmpThreadPriorityMaximum
The maximum thread priority for the real-time system.
Definition rsi.h:926
RSI::RapidCode::MotionController::CreationParameters::CpuAffinityDefault
static constexpr int32_t CpuAffinityDefault
The default value for CpuAffinity specifying no particular CPU core to run on.
Definition rsi.h:895
RSI::RapidCode::MotionController::CreationParameters::NodeName
char NodeName[PathLengthMaximum]
[Windows/INtime] Indicate the INtime node on which the RMP and RMPNetwork processes run.
Definition rsi.h:1045
RSI::RapidCode::MotionController::CreationParameters::RmpPath
char RmpPath[PathLengthMaximum]
Location of the RMP firmware executable, license, and associated binaries and resources.
Definition rsi.h:978
RSI::RapidCode::MotionController::CreationParameters::ControllerIndexDefault
static constexpr int32_t ControllerIndexDefault
The default value for ControllerIndex.
Definition rsi.h:882
RSI::RapidCode::MotionController::CreationParameters::NodeNameDefault
static constexpr char NodeNameDefault[]
The default INtime node name for NodeName (Windows only).
Definition rsi.h:902
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityNoRealTime
static constexpr int32_t RmpThreadPriorityNoRealTime
The thread priority where real time properties (scheduler and relative priorities) are not set.
Definition rsi.h:932
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMinimum
static constexpr int32_t RmpThreadPriorityMinimum
The minimum thread priority for the real-time system.
Definition rsi.h:920
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMaximumDefault
static constexpr int32_t RmpThreadPriorityMaximumDefault
The default value for RmpThreadPriorityMax.
Definition rsi.h:908
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityRange
static constexpr int32_t RmpThreadPriorityRange
The priority range required for RMP and RMPNetwork threads. Minimum thread priority is this +1.
Definition rsi.h:914
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1065
RSI::RapidCode::MotionController::CreationParameters::NicPrimary
char NicPrimary[PathLengthMaximum]
Primary EtherCAT Network Interface (NIC) name.
Definition rsi.h:1019
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMax
int32_t RmpThreadPriorityMax
[Linux] The maximum thread priority. All threads of the RMP and RMPNetwork will be based off of this....
Definition rsi.h:1077
RSI::RapidCode::MotionController::CreationParameters::PathLengthMaximum
static constexpr uint32_t PathLengthMaximum
MotionController::CreationParameters Maximum string buffer length.
Definition rsi.h:888
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with every field set to its documented default value.
Definition rsi.h:945
RSI::RapidCode::MotionController::CreationParameters::NicSecondary
char NicSecondary[PathLengthMaximum]
Secondary EtherCAT Network Interface (NIC) name. Reserved for future use.
Definition rsi.h:1025
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:872
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:4357
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:4350
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional).
Definition rsi.h:4355
RSI::RapidCode::MotionController::MathBlockConfig::OutputAddress
uint64_t OutputAddress
Host memory address for Output. The MathBlock will write its result to this address....
Definition rsi.h:4356
RSI::RapidCode::MotionController::MathBlockConfig::InputAddress0
uint64_t InputAddress0
Host memory address for Input0. Represents the left-hand side operand in math operations.
Definition rsi.h:4351
RSI::RapidCode::MotionController::MathBlockConfig::InputDataType0
RSIDataType InputDataType0
Data type for Input0. This is the data type of the left-hand side operand in math operations.
Definition rsi.h:4352
RSI::RapidCode::MotionController::MathBlockConfig::InputAddress1
uint64_t InputAddress1
Host memory address for Input1. Represents the right-hand side operand in math operations.
Definition rsi.h:4353
RSI::RapidCode::MotionController::MathBlockConfig::InputDataType1
RSIDataType InputDataType1
Data type for Input1. This is the data type of the right-hand side operand in math operations.
Definition rsi.h:4354
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:4358
RSI::RapidCode::MotionController::NetworkStatus
NetworkStatus structure for EtherCAT network health monitoring.
Definition rsi.h:2277
RSI::RapidCode::MotionController::NetworkStatus::MissedCyclicFrameCount
uint32_t MissedCyclicFrameCount
Cumulative count of missed cyclic EtherCAT frames since network startup. Indicates communication reli...
Definition rsi.h:2280
RSI::RapidCode::MotionController::NetworkStatus::InterfaceType
RSINetworkInterfaceType InterfaceType
Host-side packet interface mechanism used for EtherCAT frame I/O (for example, INtime HPE2 or Linux A...
Definition rsi.h:2283
RSI::RapidCode::MotionController::NetworkStatus::EoeNodeToHostFrameCount
uint64_t EoeNodeToHostFrameCount
Cumulative count of EoE (Ethernet over EtherCAT) frames received from nodes by the host since network...
Definition rsi.h:2285
RSI::RapidCode::MotionController::NetworkStatus::AlStatus
uint32_t AlStatus
Logical OR of AL Status registers (0x0130) from all nodes. A value of 8 indicates all nodes are Opera...
Definition rsi.h:2279
RSI::RapidCode::MotionController::NetworkStatus::EoeHostToNodeFrameCount
uint64_t EoeHostToNodeFrameCount
Cumulative count of EoE (Ethernet over EtherCAT) frames sent from the host toward nodes since network...
Definition rsi.h:2284
RSI::RapidCode::MotionController::NetworkStatus::CyclicFramePeriodUs
uint32_t CyclicFramePeriodUs
Most recent cyclic frame period in microseconds. Should match the configured sample rate.
Definition rsi.h:2281
RSI::RapidCode::MotionController::NetworkStatus::SynchronizationErrorNs
int32_t SynchronizationErrorNs
Distributed Clock synchronization error in nanoseconds. Updated approximately every 16 samples....
Definition rsi.h:2282
RSI::RapidCode::MotionController::NetworkStatus::ActiveNodeCount
uint32_t ActiveNodeCount
Number of nodes actively responding on the network. Compare against expected node count to detect dro...
Definition rsi.h:2278
RSI::RapidCode::MotionController::NetworkSyncGroupStatus
Status of a single EtherCAT sync group.
Definition rsi.h:2320
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::State
RSINetworkSyncGroupState State
Current group state – see RSINetworkSyncGroupState for the meaning of each value.
Definition rsi.h:2322
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::DataValid
bool DataValid
true when the group's cyclic data is trustworthy (WKC matches). The master clears this on a tolerated...
Definition rsi.h:2326
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::Id
uint32_t Id
Sync group id (0 = default group).
Definition rsi.h:2321
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::NonOperationalNodeMask
uint64_t NonOperationalNodeMask
Bitmask (by node index, up to 64 nodes) of this group's member nodes NOT in OP. Bit i set means node ...
Definition rsi.h:2329
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::NodeCount
uint32_t NodeCount
Number of nodes assigned to this group.
Definition rsi.h:2325
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::ToleratedWkcCount
uint32_t ToleratedWkcCount
Cumulative count of WKC mismatches tolerated for this group since network start. Increments while a W...
Definition rsi.h:2327
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::ActualWkc
uint32_t ActualWkc
Most recent actual Working Counter. Less than ExpectedWkc while a group node is out of OP.
Definition rsi.h:2324
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::ExpectedWkc
uint32_t ExpectedWkc
Expected Working Counter for this group's cyclic datagram.
Definition rsi.h:2323
RSI::RapidCode::MotionController::NetworkSyncGroupStatus::OperationalNodeCount
uint32_t OperationalNodeCount
Number of this group's member nodes currently in the OP state. Equals NodeCount when healthy; drops b...
Definition rsi.h:2328
RSI::RapidCode::NetworkNode::Config::SyncGroup
uint32_t SyncGroup
Sync group for this node. A non-zero group gives the node its own cyclic datagram and expected Workin...
Definition rsi.h:4924
RSI::RapidCode::NetworkNode::Status
Status structure for individual EtherCAT node diagnostics.
Definition rsi.h:4882
RSI::RapidCode::NetworkNode::Status::EoeNodeToHostFrameCount
uint64_t EoeNodeToHostFrameCount
Cumulative count of EoE (Ethernet over EtherCAT) frames received from this node by the host since net...
Definition rsi.h:4888
RSI::RapidCode::NetworkNode::Status::SyncGroupId
uint32_t SyncGroupId
Sync group this node belongs to, populated by the master from the ENI at startup. 0 = default group....
Definition rsi.h:4889
RSI::RapidCode::NetworkNode::Status::AlStatus
uint32_t AlStatus
EtherCAT AL Status register (0x0130) value. This is a snapshot value primarily useful for detecting u...
Definition rsi.h:4883
RSI::RapidCode::NetworkNode::Status::EoeHostToNodeFrameCount
uint64_t EoeHostToNodeFrameCount
Cumulative count of EoE (Ethernet over EtherCAT) frames sent from the host to this node since network...
Definition rsi.h:4887
RSI::RapidCode::NetworkNode::Status::CoeEmergencyMessageNetworkCounter
int32_t CoeEmergencyMessageNetworkCounter
Network counter value when the current CoeEmergencyMessage was received. Use to determine if the emer...
Definition rsi.h:4886
RSI::RapidCode::NetworkNode::Status::CoeEmergencyMessage
uint64_t CoeEmergencyMessage
CANopen over EtherCAT (CoE) emergency message. 8-byte value containing error code and additional data...
Definition rsi.h:4885
RSI::RapidCode::NetworkNode::Status::AlStatusCode
uint32_t AlStatusCode
EtherCAT AL Status Code register value. This is a snapshot value captured when the node reports an er...
Definition rsi.h:4884
RSI::RapidCode::NetworkNode::Status::Present
bool Present
true if the node responded to the master's most recent AL-status read; false if it did not respond (p...
Definition rsi.h:4890
RSI::RapidCode::FirmwareValue
Union representing a generic RMP firmware value with multiple data types, stored in 64-bits.
Definition rsi.h:464
RSI::RapidCode::FirmwareValue::Float
float Float
Single precision (32-bit) floating-point.
Definition rsi.h:472
RSI::RapidCode::FirmwareValue::Int64
int64_t Int64
64-bit signed integer.
Definition rsi.h:474
RSI::RapidCode::FirmwareValue::UInt8
uint8_t UInt8
8-bit unsigned integer.
Definition rsi.h:467
RSI::RapidCode::FirmwareValue::Int8
int8_t Int8
8-bit signed integer.
Definition rsi.h:466
RSI::RapidCode::FirmwareValue::Double
double Double
Double precision (64-bit) floating-point.
Definition rsi.h:473
RSI::RapidCode::FirmwareValue::Int32
int32_t Int32
32-bit signed integer.
Definition rsi.h:470
RSI::RapidCode::FirmwareValue::UInt16
uint16_t UInt16
16-bit unsigned integer.
Definition rsi.h:469
RSI::RapidCode::FirmwareValue::Int16
int16_t Int16
16-bit signed integer.
Definition rsi.h:468
RSI::RapidCode::FirmwareValue::Bool
bool Bool
Boolean value.
Definition rsi.h:465
RSI::RapidCode::FirmwareValue::UInt32
uint32_t UInt32
32-bit unsigned integer.
Definition rsi.h:471
RSI::RapidCode::FirmwareValue::UInt64
uint64_t UInt64
64-bit unsigned integer.
Definition rsi.h:475