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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()
132 {
133 text[0] = '\0';
134 functionName[0] = '\0';
135 shortText[0] = '\0';
136 fileName[0] = '\0';
137 number = RSIErrorMessage::RSIMessageOK;
138 lineNumber = -1;
139 isWarning = false;
140 objectIndex = -1;
141 }
150 RsiError(const RsiError& copyFrom)
151 {
152#if defined(_WIN32)
153 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#elif defined(__linux__)
158 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
159 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
160 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
161 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
162#endif
163 number = copyFrom.number;
164 lineNumber = copyFrom.lineNumber;
165 isWarning = copyFrom.isWarning;
166 objectIndex = copyFrom.objectIndex;
167 }
168 ~RsiError()
169 {
170 }
171
173 virtual const char* what() const noexcept { return text; }
174};
175
184class RSI_API RapidCodeObject {
185public:
190
191
192
205 virtual const char* const VersionGet() PURE_VIRTUAL;
206
208 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
210 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
212 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
216 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
218 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
220 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
221
224 virtual int32_t NumberGet() PURE_VIRTUAL;
226
231
232
233
234
260 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
261
275 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
276
289 virtual void ErrorLogClear() PURE_VIRTUAL;
290
309 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
310
312 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
313
315 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
316
318 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
320
325
326
341 virtual void Trace(bool state) PURE_VIRTUAL;
342
357 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
358
359
380 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
381
397 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
398
412 virtual void TraceMaskClear() PURE_VIRTUAL;
413
428 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
429
442 virtual void TraceFileClose() PURE_VIRTUAL;
443
458 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
459
460
461
462
464};
465
467typedef union
468{
469 bool Bool;
470 int8_t Int8;
471 uint8_t UInt8;
472 int16_t Int16;
473 uint16_t UInt16;
474 int32_t Int32;
475 uint32_t UInt32;
476 float Float;
477 double Double;
478 int64_t Int64;
479 uint64_t UInt64;
480} FirmwareValue;
481
483
497class RSI_API RapidCodeOS {
498public:
499
504
517 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
518
537 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
538
548 virtual int32_t TimerCountGet() PURE_VIRTUAL;
549
558 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
559
560
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
573
585 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
586
588};
589
591
594class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
595public:
599
601 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
602
603
625 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
626
646 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
647
668 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
669
670
691 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
692
694 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
695
697 virtual void InterruptWake() PURE_VIRTUAL;
698
700 virtual void InterruptMaskClear() PURE_VIRTUAL;
701
703 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
704
706 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
707
709 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
710
712 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
713
714
727 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
728
729
741 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
742
748 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
749
785
787 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
788
794 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
795};
796
800class RSI_API MotionController : public virtual RapidCodeInterrupt {
801protected:
802 MotionController();
803 StaticInstanceMediator* _mediator;
804
805public:
806
807 // Static functions or attributes should be grouped together.
812
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
815
817 static inline constexpr uint32_t AxisCountMaximum = 64;
818
820 static inline constexpr uint32_t MotionCountMaximum = 64;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
833
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
836
843 static inline constexpr double SampleRateDefault = 1000.0;
844
854 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
855
857
858 // Static functions or attributes should be grouped together.
863
865 struct CreationParameters
866 {
871
876 static inline constexpr int32_t ControllerIndexDefault = 0;
877
882 static inline constexpr uint32_t PathLengthMaximum = 256;
883
889 static inline constexpr int32_t CpuAffinityDefault = -1;
890
895 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
896
901 static inline constexpr int32_t RmpThreadPriorityRange = 8;
902
907 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
908
913 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
914
919 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
921
922
927
932 CreationParameters()
933 {
934 ControllerIndex = ControllerIndexDefault;
935 std::memset(RmpPath, '\0', PathLengthMaximum);
936 std::memset(NicPrimary, '\0', PathLengthMaximum);
937 std::memset(NicSecondary, '\0', PathLengthMaximum);
938#if defined(_WIN32)
939 std::memset(NodeName, '\0', PathLengthMaximum);
940#elif defined(__linux__)
941 CpuAffinity = CpuAffinityDefault;
942 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
943#endif
944 }
945
946
951
956 int32_t ControllerIndex;
957
962 char RmpPath[PathLengthMaximum];
963
968 char NicPrimary[PathLengthMaximum];
969
974 char NicSecondary[PathLengthMaximum];
976
977 // Control which platform specific parameters are available
978#if defined(_WIN32) && defined(__linux__)
979 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
980#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
981 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
982#endif //defined(_WIN32) && defined(__linux__)
983#if defined(_WIN32) || defined(DOXYGEN)
984
989
994 char NodeName[PathLengthMaximum];
995
997#endif //defined(_WIN32)
998#if defined(__linux__) || defined(DOXYGEN)
999
1004
1014 int32_t CpuAffinity;
1015
1026 int32_t RmpThreadPriorityMax;
1027
1029# endif // defined(__linux__)
1030 };
1031
1042 static MotionController* Create(CreationParameters* creationParameters);
1043
1048 static MotionController* Get();
1049
1055 static MotionController* Get(int32_t controllerIndex);
1056
1057#if defined(_WIN32)
1084 static MotionController* CreateFromSoftware();
1085
1090 static MotionController* CreateFromSoftware(const char* const RtaPath);
1091
1097 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1098
1125 static MotionController* Create();
1126#endif // defined(_WIN32)
1127
1132 static MotionController* CreateFromFile(const char* const fileName);
1134
1139
1155 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1156
1173 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1174
1188 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1189
1204 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1205
1221 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1222
1245 virtual void Delete(void) PURE_VIRTUAL;
1247
1252
1259 virtual void Reset() PURE_VIRTUAL;
1260
1270 virtual void Refresh() PURE_VIRTUAL;
1271
1279 virtual void Shutdown() PURE_VIRTUAL;
1280
1289 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1291
1296
1319 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1320
1335 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1336
1347 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1348
1352 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1353
1354
1356
1361
1362
1366 virtual CreationParameters CreationParametersGet() PURE_VIRTUAL;
1367
1390 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1391
1410 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1411
1412
1414 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1415
1417 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1418
1420 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1421
1422
1423
1424
1446 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1447
1473 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1474
1478 virtual double SampleRateGet() PURE_VIRTUAL;
1479
1497 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1498
1517 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1518
1521 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1522
1525 virtual bool IsLicensed() PURE_VIRTUAL;
1526
1528 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1529
1531 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1532
1534 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1535
1537 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1538
1563 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1564
1581 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1582
1608 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1609
1633 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1634
1637 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1638
1655 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1656
1671 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1673
1678
1696 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1697
1715 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1716
1718 virtual bool HasMechaWare() PURE_VIRTUAL;
1719
1743 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1744
1745
1763 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1764
1790 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1791
1806 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1807
1808
1809
1826 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1827
1853 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1854
1873 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1874
1875
1876
1877
1900 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1901
1902
1903
1926 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1927
1928
1929
1930
1939 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1940
1941
1942
1951 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1952
1967 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1968
1986 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1987
1988
2001 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2002
2007 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2008
2022 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2023
2024
2025
2041 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2043
2048
2050 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2051
2053 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2054
2057 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2058
2104 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2105
2126 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2127
2134 virtual void NetworkStart() PURE_VIRTUAL;
2135
2140 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2141
2148 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2149
2154 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2155
2166 virtual void NetworkShutdown() PURE_VIRTUAL;
2167
2170 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2171
2173 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2174
2176 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2177
2179 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2180
2184 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2185
2188 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2189
2192 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2193
2197 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2198
2199
2200
2204 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2205
2209 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2210
2213 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2214
2215
2219 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2220
2222 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2223
2225 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2226
2242 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2243
2260 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2261
2280 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2281
2286 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2287
2298 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2299
2311 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2312
2323 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2324
2325
2326
2327
2344 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2345
2358 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2359
2374 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2375
2379 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2380
2382 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2383
2388 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2389
2391 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2392
2394 virtual void NetworkTimingClear() PURE_VIRTUAL;
2395
2397 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2398
2400 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2401
2403 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2404
2406 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2407
2409 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2410
2412 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2413
2415 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2416
2418 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2420
2425
2442 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2443
2462 virtual void InterruptWake() PURE_VIRTUAL;
2463
2491 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2492
2518 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2519
2539 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2540
2542 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2543
2554 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2555
2557 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2558
2571 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2572
2583 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2584
2594 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2595
2622
2623 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2625
2630
2631
2632
2651 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2652
2670 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2671
2688 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2689
2691 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2692
2709 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2710
2712 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2713
2729 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2730
2732 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2733
2750 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2751
2753 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2754
2755
2761 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2762
2776
2782 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2783
2790 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2791
2797 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2798
2805 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2806
2813 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2814
2823 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2824
2840 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2841
2843 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2844
2861 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2862
2864 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2865
2879 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2880
2882 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2883
2898 virtual void RecorderStart() PURE_VIRTUAL;
2899
2901 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2902
2919 virtual void RecorderStop() PURE_VIRTUAL;
2920
2922 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2923
2924
2925
2941 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2942
2944 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2945
2960 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2961
2981 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2982
2984 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2985
3002 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3003
3005 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3006
3025 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3026
3028 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3029
3031 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3032
3051 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3052
3070 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3071
3073 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3074
3089 virtual void RecorderReset() PURE_VIRTUAL;
3090
3092 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3093
3105 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3106
3123 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3125
3130
3131
3132
3133
3158 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3159
3179 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3180
3191 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3192
3212 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3213
3227 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3228
3254 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;
3255
3285 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;
3286
3307 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;
3308
3329 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;
3330
3342 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3343
3355 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3356
3376 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3377
3378
3379
3380
3381
3382
3394
3395 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3396
3405 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3406
3411 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3412
3419 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3420
3422
3427
3447 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3448
3468 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3469
3489 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3490
3493 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3494
3496 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3497
3499 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3500
3502 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3503
3505 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3506
3508 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3509
3534 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3535
3557 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3558
3560 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3561
3563 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3564
3566 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3567
3569 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3570
3572 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3573
3575 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3576
3603 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3604
3607 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3608
3611 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3612
3615 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3616
3632 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3633
3635 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3636
3638 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3639
3641 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3642
3644 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3645
3647 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3648
3650 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3651
3653 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3654
3656 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3657
3659 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3660
3661
3663 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3664
3685 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3686
3707 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3708
3710 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3711
3726 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3727
3739 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3740
3749
3750 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3751
3769 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3770
3772 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3774
3775
3780
3790 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3791
3802 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3803
3822
3824 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3825
3827 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3828
3830 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3831
3833
3834
3839
3841 RapidCodeOS* OS;
3842
3844};
3845
3849class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3850public:
3851
3856
3858 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3859
3861
3862
3867
3869 virtual bool Exists() PURE_VIRTUAL;
3870
3872 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3873
3875 virtual bool IsEtherCAT() PURE_VIRTUAL;
3876
3878 virtual bool IsSynqNet() PURE_VIRTUAL;
3879
3881
3886
3894 virtual bool HasIO() PURE_VIRTUAL;
3895
3905 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3906
3916 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3917
3926 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3927
3937 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3938
3948 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3949
3958 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3959
3961
3965
3973 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3974
3982 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3983
3991 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3992
4000 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4001
4002
4004 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4005
4007 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4008
4010 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4011
4013 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4014
4016 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4017
4019 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4020
4033 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4034
4047 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4048
4061 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4062
4075 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4076
4088 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4089
4101 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4102
4114 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4115
4127 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4128
4142 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4143
4147 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4148
4161 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4162
4166 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4167
4178 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4179
4193 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4194
4195
4200 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4201
4213 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4214
4222 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4223
4232 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4233
4239 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4240
4242 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4243
4245 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4246
4259 virtual const char* const NameGet() PURE_VIRTUAL;
4260
4273 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4274
4287 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4288
4290 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4291
4293 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4294
4296 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4297
4299 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4300
4302 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4303
4305 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4306};
4307
4309
4312class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4313public:
4314
4316 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4317
4323
4325 MotionController* rsiControl;
4326
4328
4329
4333
4351 virtual int32_t NumberGet() PURE_VIRTUAL;
4352
4369 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4370
4374
4399 virtual void TriggeredModify() PURE_VIRTUAL;
4400
4427 virtual void Stop() PURE_VIRTUAL;
4428
4453 virtual void Resume() PURE_VIRTUAL;
4454
4479 virtual void EStop() PURE_VIRTUAL;
4480
4501 virtual void EStopAbort() PURE_VIRTUAL;
4502
4519 virtual void EStopModify() PURE_VIRTUAL;
4520
4523 virtual void EStopModifyAbort() PURE_VIRTUAL;
4524
4546 virtual void Abort() PURE_VIRTUAL;
4547
4574 virtual void ClearFaults() PURE_VIRTUAL;
4575
4614 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState = false) PURE_VIRTUAL;
4615
4626 virtual bool AmpEnableGet() PURE_VIRTUAL;
4627
4647
4648 virtual void Map() PURE_VIRTUAL;
4649
4667 virtual void Unmap() PURE_VIRTUAL;
4668
4673 virtual bool IsMapped() PURE_VIRTUAL;
4674
4691 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4692
4711 virtual double FeedRateGet() PURE_VIRTUAL;
4712
4716
4717
4718
4719
4739 virtual RSIState StateGet() PURE_VIRTUAL;
4740
4768 virtual RSISource SourceGet() PURE_VIRTUAL;
4769
4794 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4795
4818 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4819
4846 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4847
4868 virtual bool MotionDoneGet() PURE_VIRTUAL;
4869
4892 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4893
4908 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4909
4913
4942 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4943
4957 virtual void InterruptWake() PURE_VIRTUAL;
4958
4962
4978 virtual double StopTimeGet() PURE_VIRTUAL;
4979
4995 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4996
5012 virtual double EStopTimeGet() PURE_VIRTUAL;
5013
5029 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
5030
5047 virtual double MotionDelayGet() PURE_VIRTUAL;
5048
5069 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
5070
5091 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5092
5110 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5111
5113 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5114
5116 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5117
5132 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5133
5141 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5142
5162 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5163
5196 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5197
5209 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5210
5229
5230 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5231
5248 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5249
5268 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5269
5293 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5294
5317 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5318
5335 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5336
5353 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5354
5371
5372 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5373
5390 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5391
5393 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5394
5396 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5397
5414 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5415
5432 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5433
5449 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5450
5466 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5467
5483 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5484
5500 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5501
5503 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5504
5529
5530 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5531
5550 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5551
5568
5569 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5570
5574
5575
5576
5612 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;
5613
5651 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;
5652
5682 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;
5683
5720 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;
5721
5762 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;
5763
5768 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5769
5791 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5792
5797 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5798
5817 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5818
5834 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5835
5855 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5856};
5857
5858
5863class RSI_API Axis : public virtual RapidCodeMotion{
5864public:
5865
5866 friend class MotionController;
5867 friend class MultiAxis;
5868
5869
5874
5876 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5877
5879 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5880
5882
5883
5888
5893 RapidCodeNetworkNode* NetworkNode;
5894
5895
5897
5902
5940 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5941
5963 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5964
5987 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5988
5996
5997 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5998
6008 virtual void MoveSCurve(double position) PURE_VIRTUAL;
6009
6013 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6014
6018 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
6019
6054 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
6055
6093 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
6094
6136 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6137
6144 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
6145
6151 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6153
6158
6183 virtual void PositionSet(double position) PURE_VIRTUAL;
6184
6203 virtual double ActualPositionGet() PURE_VIRTUAL;
6204
6226 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6227
6244 virtual double CompensationPositionGet() PURE_VIRTUAL;
6245
6258 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6259
6271 virtual double TargetPositionGet() PURE_VIRTUAL;
6272
6292 virtual double CommandPositionGet() PURE_VIRTUAL;
6293
6325 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6326
6350 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6351
6368 virtual double OriginPositionGet() PURE_VIRTUAL;
6369
6392 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6393
6414 virtual double PositionErrorGet() PURE_VIRTUAL;
6415
6437 virtual double CommandVelocityGet() PURE_VIRTUAL;
6438
6461 virtual double ActualVelocityGet() PURE_VIRTUAL;
6462
6483 virtual double CommandAccelGet() PURE_VIRTUAL;
6484
6486 virtual double CommandJerkGet() PURE_VIRTUAL;
6487
6508 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6509
6531 virtual double UserUnitsGet() PURE_VIRTUAL;
6532
6555 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6556
6558 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6559
6561 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6562
6582 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6584
6589
6610
6611 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6612
6616 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6617
6636
6637 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6638
6657
6658 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6659
6680
6681 virtual double HomeOffsetGet() PURE_VIRTUAL;
6682
6727 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6728
6746
6747 virtual double HomeVelocityGet() PURE_VIRTUAL;
6748
6751 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6752
6773 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6774
6779 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6780
6796 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6797
6813 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6814
6832
6833 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6834
6837 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6838
6858
6859 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6860
6864 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6865
6882
6883 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6884
6887 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6888
6907
6908 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6909
6913 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6914
6932
6933 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6934
6937 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6938
6958 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6959
6964 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6965
6985 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6986
7005 virtual bool HomeStateGet() PURE_VIRTUAL;
7006
7019 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
7020
7025 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7026
7028 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7029
7031 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7032
7035 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7036
7058
7059 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
7060
7080 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
7081
7095 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
7096
7108 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
7110
7116
7118 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
7119
7121 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7123
7128 // reads active configuration to report state
7129
7153
7154 virtual bool NegativeLimitGet() PURE_VIRTUAL;
7155
7179 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7180
7209 virtual bool HomeLimitGet() PURE_VIRTUAL;
7210
7238 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7239
7260 virtual bool AmpFaultGet() PURE_VIRTUAL;
7261
7285 virtual bool AmpEnableGet() PURE_VIRTUAL;
7286
7311 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7312
7337 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7338
7361 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7362
7384 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7385
7408 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7409
7431 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7433
7438
7459 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7460
7478 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7479
7500 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7501
7519 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7520
7541
7542 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7543
7562 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7563
7582 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7583
7606 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7607
7626 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7627
7644 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7646
7651
7665 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7666
7681 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7682
7693 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7694
7712 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7713
7723 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7724
7742 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7743
7754 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7755
7773 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7774
7776 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7777
7779 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7780
7800 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7801
7822 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7824
7829
7831 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7832
7834 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7835
7837 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7838
7840 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7841
7843 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7844
7846 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7847
7849 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7850
7852 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7853
7855 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7856
7858 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7859
7861 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7862
7864 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7865
7867 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7868
7870 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7871
7873 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7874
7876 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7878
7882 // /@{
7883
7906 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7907
7930 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7931
7953 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7954
7976 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7977
7998 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7999
8020 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
8021
8046 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
8047
8071 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
8072
8098 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
8099
8120 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
8121
8143 virtual double HomeDurationGet() PURE_VIRTUAL;
8144
8167 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8168
8197 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8198
8225 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8226
8249 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8250
8272 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8273
8295 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8296
8319 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8320
8345 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8346
8371 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8372
8396 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8397
8421 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8422
8445 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8446
8469
8470 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8471
8496 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8497
8522 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8523
8544 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8545
8569 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8570
8593 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8594
8617 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8618
8644 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8645
8669 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8670
8693 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8694
8717 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8718
8742 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8743
8767 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8768
8791 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8792
8815 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8816
8842 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8843
8868 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8869
8893 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8894
8916 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8917
8939 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8940
8962 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8963
8965 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8966
8968 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8969
8985 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8986
9000 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
9001
9002 // common limit methods
9003
9005 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
9006
9008 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
9009
9011 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
9012
9014 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
9015
9017 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
9018
9020 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
9021
9023 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
9024
9026 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
9028
9033
9047 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
9048
9062 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
9063
9077 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
9078
9094
9095 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
9096
9110 virtual double VelocityToleranceGet() PURE_VIRTUAL;
9111
9125 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
9126
9141 virtual double SettlingTimeGet() PURE_VIRTUAL;
9142
9157 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9158
9175 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9176
9193
9194 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9195
9212 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9213
9229 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9230
9247 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9248
9264 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9266
9271
9288 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9289
9305 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9306
9323 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9324
9342 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9343
9361
9362 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9363
9379 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9380
9396 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9397
9398
9415 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9416
9432 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9433
9451 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9452
9454 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9455
9457 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9458
9460 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9461
9463 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9464
9466 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9467
9468
9470 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9471
9473 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9474
9492 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9493
9495 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9496
9498 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9499
9521 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9522
9524 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9525
9527 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9528
9530 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9531
9533 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9534
9536 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9537
9540 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9541
9543 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9544
9546 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9547
9561 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9562
9576 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9577
9597 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9598
9624 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9626
9631
9652 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9653
9657 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9658
9677 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9678
9695 virtual void GearingDisable() PURE_VIRTUAL;
9696
9698 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9699
9701 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9702
9704 virtual bool GearingEnableGet() PURE_VIRTUAL;
9705
9723 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9724
9737 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9739
9744
9761 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9762
9777 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9778
9795 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9796
9814 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9815
9833 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9834
9856 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9857
9887 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;
9888
9905
9906 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9908
9913
9926 virtual double BacklashWidthGet() PURE_VIRTUAL;
9927
9940 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9941
9954 virtual double BacklashRateGet() PURE_VIRTUAL;
9955
9968 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9969
9970
9981 virtual double BacklashValueGet() PURE_VIRTUAL;
9983
9988
10016 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
10017
10042 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
10043
10069 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10070
10093 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10094
10097 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10098
10102 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10103
10138 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10139
10168 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10169
10186 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10187
10189 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10190
10203 virtual double FilterLowPassGet() PURE_VIRTUAL;
10204
10220 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10221
10240 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10241
10242
10244 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10245
10246
10248 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10249
10251 virtual bool IsTuneable() PURE_VIRTUAL;
10252
10269 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10270
10286 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10287
10306 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10307
10323 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10324
10342 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10343
10362 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10363
10382 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10383
10399 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10400
10421 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10422
10424 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10425 //virtual RSIFilterPostFilterSection PostFilterSection;
10427
10432
10452 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10453
10474 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10476
10481
10503 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10504
10523 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10524
10544 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10545
10564 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10565
10585 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10586
10605 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10606
10627 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10629
10630
10655 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10656
10691 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10692
10700 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10701
10708 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10709
10733 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10734
10758 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10759
10768 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10769
10779 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10780
10787 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10788
10790};
10791
10795class RSI_API MultiAxis : public virtual RapidCodeMotion {
10796public:
10797
10801
10815 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10816
10819 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10820
10833 virtual void AxisRemoveAll() PURE_VIRTUAL;
10834
10838
10854 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10855
10875 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10876
10897 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10898
10902
10917 virtual double VectorVelocityGet() PURE_VIRTUAL;
10918
10934 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10935
10950 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10951
10974 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10975
10990 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10991
11014 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
11015
11030 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
11031
11054 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
11055
11079 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
11080
11083 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
11084
11088
11108
11109 virtual double PathTimeSliceGet() PURE_VIRTUAL;
11110
11131
11132 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
11133
11158 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
11159
11162 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
11163
11180 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11181
11190
11191 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11192
11201
11202 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11203
11222 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11223
11244 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11245
11265 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11266
11285 virtual void PathListEnd() PURE_VIRTUAL;
11286
11303 virtual void PathMotionStart() PURE_VIRTUAL;
11304
11308
11326 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11327
11330 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11331
11361 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;
11362
11373 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11374
11379 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;
11380
11395 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11396
11400 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11401
11423 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;
11424
11435 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11436
11441 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;
11442
11459 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11460
11477 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11478
11496 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11497
11499 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11500
11514 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11515
11529 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11530
11540 virtual bool AmpEnableGet() PURE_VIRTUAL;
11541
11542
11543};
11544
11550class RSI_API IOPoint : public virtual RapidCodeObject {
11551public:
11556
11573 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11574
11591 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11592
11608 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11609 // use NetworkNode*
11610 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11611
11622 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11623
11637 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11638
11656 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11657
11674 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11675
11691 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11692 // use NetworkNode*
11693 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11694
11695
11708 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11709
11723 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11724
11739 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11740 // use RapidCodeNetworkNode*
11741 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11742
11757 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11758 // use RapidCodeNetworkNode*
11759 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11760
11762
11766
11769 virtual uint64_t AddressGet() PURE_VIRTUAL;
11770
11773 virtual int32_t MaskGet() PURE_VIRTUAL;
11774
11777 virtual bool IsDigital() PURE_VIRTUAL;
11778
11779
11782 virtual bool IsOutput() PURE_VIRTUAL;
11783
11787
11791 virtual bool Get() PURE_VIRTUAL;
11792
11799 virtual void Set(bool state) PURE_VIRTUAL;
11800
11804
11808 virtual double ValueGet() PURE_VIRTUAL;
11809
11813 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11814};
11815
11819class RSI_API RTOS {
11820
11821public:
11822#if defined(_WIN32)
11827
11830 static INtimeStatus INtimeStatusGet();
11831
11836 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11837
11840 static INtimeStatus INtimeStart();
11841
11846 static INtimeStatus INtimeStart(const char* const nodeName);
11847
11850 static INtimeStatus INtimeStop();
11851
11856 static INtimeStatus INtimeStop(const char* const nodeName);
11857
11860 static INtimeStatus INtimeRestart();
11861
11866 static INtimeStatus INtimeRestart(const char* const nodeName);
11867
11870 static const char* const INtimeCatalogRMPGet();
11871
11874 static const char* const INtimeCatalogRMPNetworkGet();
11875
11878 static uint32_t INtimeNodeCountGet();
11879
11883 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11884
11888 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11890#endif // _WIN32
11891};
11892
11894class RSI_API Trace
11895{
11896public:
11901
11914 static void MaskSet(RSITrace mask);
11915
11931 static void MaskOnSet(RSITrace maskOn);
11932
11933
11953 static bool MaskOnGet(RSITrace maskOn);
11954
11970 static void MaskOffSet(RSITrace maskOff);
11971
11984 static void MaskClear();
11985
12000 static int32_t FileSet(const char* const fileName);
12001
12014 static void FileClose();
12015
12030 static void InjectMessage(RSITrace traceLevel, const char* const message);
12031
12033};
12034
12036
12038
12042class RSI_API IO : public virtual RapidCodeObject {
12043public:
12044
12045 friend class MotionController;
12046
12051
12053 RapidCodeNetworkNode* NetworkNode;
12055 MotionController* rsiControl;
12056
12058
12063
12064
12097 virtual bool IOExists() PURE_VIRTUAL;
12098
12115 virtual int32_t NumberGet() PURE_VIRTUAL;
12117
12122
12123
12124
12154 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
12155
12188 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
12189
12220 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12221
12244 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12245
12277 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12278
12310 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12312
12322 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12323
12330 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12331};
12332
12333#if defined(__cplusplus)
12334}
12335#endif
12336
12337template<typename ContainerClass>
12338class RSI_API RapidVectorIterator
12339{
12340public:
12342 typedef typename ContainerClass::ValueType ValueType;
12343
12345 typedef typename ContainerClass::PointerType PointerType;
12346
12349 ValueType& operator*();
12350
12353 const ValueType& operator*() const;
12354
12357 RapidVectorIterator& operator++();
12358
12361 RapidVectorIterator operator++(int);
12362
12365 bool operator==(const RapidVectorIterator&) const;
12366
12369 bool operator!=(const RapidVectorIterator&) const;
12370
12372 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12373
12375 RapidVectorIterator(const RapidVectorIterator&) = default;
12376
12378 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12379
12381 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12382
12384 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12385private:
12386 PointerType pointer;
12387 PointerType start, end;
12388 void VerifyPointer() const;
12389};
12390
12391// Forward declaration of the RapidVectorImplementation class.
12392template<typename Type>
12393class RapidVectorImplementation;
12394
12397
12410template<typename Type>
12411class RSI_API RapidVector
12412{
12413private:
12414 // The pointer to the implementation.
12415 RapidVectorImplementation<Type>* pImpl;
12416public:
12420 Type& operator[](const size_t index);
12421
12425 const Type& operator[](const size_t index) const;
12426
12430 Type& At(const size_t index);
12431
12435 const Type& At(const size_t index) const;
12436
12439 void PushBack(const Type& element);
12440
12443 void PushBack(Type&& element);
12444
12447 const size_t Size() const;
12448
12450 void Clear();
12451
12453 void PopBack();
12454
12457 Type& Front();
12458
12461 const Type& Front() const;
12462
12465 Type& Back();
12466
12469 const Type& Back() const;
12470
12473 void Reserve(const size_t capacity);
12474
12476 RapidVector();
12477
12479#if defined(SWIG) && defined(__linux__)
12480 // SWIG 4.3.0 on Linux cannot parse the complex SFINAE template syntax
12481 // This constructor is ignored via %ignore in the .i files anyway
12482 explicit RapidVector(const size_t size);
12483#elif defined(_WIN32)
12484 template<typename = typename std::enable_if_t<std::is_default_constructible_v<Type>>>
12485 explicit RapidVector(const size_t size);
12486#else
12487 template<typename UType = Type, typename Enable = typename std::enable_if<std::is_default_constructible<UType>::value>::type>
12488 explicit RapidVector(const size_t size);
12489#endif
12490
12492 RapidVector(RapidVectorImplementation<Type>*);
12493
12495 ~RapidVector();
12496
12498 RapidVector(const RapidVector& other);
12499
12501 RapidVector& operator=(const RapidVector& other);
12502
12504 RapidVector(RapidVector&& other) noexcept;
12505
12507 RapidVector& operator=(RapidVector&& other) noexcept;
12508
12509 typedef Type* PointerType;
12510 typedef Type ValueType;
12511
12513 typedef RapidVectorIterator<RapidVector> Iterator;
12514
12517 Iterator begin() noexcept;
12518
12521 Iterator begin() const noexcept;
12522
12526 Iterator end() const noexcept;
12527};
12528
12530
12531} // namespace RapidCode
12532
12533} // namespace RSI
12534
12535#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::HomeAccelerationGet
double HomeAccelerationGet()
Get the deceleration used for homing.
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::HomeVelocityGet
double HomeVelocityGet()
Get the home velocity.
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:5893
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::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::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::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:5879
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::Home
void Home()
Execute the homing routine.
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::HomeDecelerationGet
double HomeDecelerationGet()
Get the decleration to be used for homing when using the switch is not detected before the HomeTravel...
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::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::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::HomeJerkPercentGet
double HomeJerkPercentGet()
Get the Jerk Percent used for homing.
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::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:5863
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:5876
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:12042
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:12053
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:12055
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:11550
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::RecorderRecordCountGet
int32_t RecorderRecordCountGet()
Get the number of records that are stored and ready for reading on Recorder 0.
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:854
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::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::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::Get
static MotionController * Get()
Get an already running RMP EtherCAT controller.
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::FirmwareAddressGet
uint32_t FirmwareAddressGet(uint64_t hostAddress)
Convert a host controller address to a firmware address.
RSI::RapidCode::MotionController::NetworkOutputDataTypeNameGet
const char *const NetworkOutputDataTypeNameGet(int32_t index)
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::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::CompensatorEnable
void CompensatorEnable(int32_t compensatorNumber)
Enables the compensator only if it will cause no errors.
RSI::RapidCode::MotionController::UserLimitEnableGet
bool UserLimitEnableGet(int32_t number)
Get the enabled state of a User Limit.
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::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)
Returns an Address of 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::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::HostAddressGet
uint64_t HostAddressGet(uint32_t firmwareAddress)
Convert a firmware address to a host controller address.
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:843
RSI::RapidCode::MotionController::MemoryBlockSet
void MemoryBlockSet(uint64_t address, const void *const dataStart, int32_t size)
Set controller memory.
RSI::RapidCode::MotionController::NetworkInputAddressGet
uint64_t NetworkInputAddressGet(int32_t index)
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::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::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::CreationParametersGet
CreationParameters CreationParametersGet()
Get the CreationParameters used to create this MotionController.
RSI::RapidCode::MotionController::Get
static MotionController * Get(int32_t controllerIndex)
Get an already running RMP EtherCAT controller.
RSI::RapidCode::MotionController::RecorderDataAddressSet
void RecorderDataAddressSet(int32_t index, uint64_t address)
Setup the addresses to be recorded on Recorder 0.
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::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::CompensatorDisable
void CompensatorDisable(int32_t compensatorNumber)
Disables the compensator only if it will not cause errors.
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)
RSI::RapidCode::MotionController
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:800
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::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::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:3841
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:826
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:817
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:814
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:829
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:835
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::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:832
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 numober of nodes allowed on the network.
Definition rsi.h:823
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:820
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::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:10795
RSI::RapidCode::MultiAxis::AxisMapCountGet
int32_t AxisMapCountGet()
Get the number of Axis objects in the Axis map.
RSI::RapidCode::NetworkNode::DigitalOutSet
void DigitalOutSet(int32_t digitalOutNumber, bool state)
Set the state of a digital output.
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 controller memory address for a Node's digital output.
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::ServiceChannelRead
int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount)
Read a 32-bit integer value from the SDO.
RSI::RapidCode::NetworkNode::AnalogInAddressGet
uint64_t AnalogInAddressGet(int32_t channel)
Get the controller memory 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 that appears on NodeInfo.xml.
RSI::RapidCode::NetworkNode::AnalogInMaskGet
int32_t AnalogInMaskGet(int32_t channel)
Get the bitwise mask for a Node's analog input.
RSI::RapidCode::NetworkNode::DigitalInMaskGet
int32_t DigitalInMaskGet(int32_t bitNumber)
Get the bitwise mask for a Node's digital input.
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::DigitalInAddressGet
uint64_t DigitalInAddressGet(int32_t bitNumber)
Get the controller memory 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::ServiceChannelReadString
const char *const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount)
Read a string from the SDO.
RSI::RapidCode::NetworkNode::NameGet
const char *const NameGet()
Get the Node's Short Name that appears on NodeInfo.xml.
RSI::RapidCode::NetworkNode::ServiceChannelWrite
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue)
Write a number in the SDO.
RSI::RapidCode::NetworkNode::ProductNameGet
const char *const ProductNameGet()
Get the Node's Product/Long Name that appears on NodeInfo.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::AnalogOutCountGet
int32_t AnalogOutCountGet()
Get the number of analog outputs on this node.
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 controller memory 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:3858
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:11819
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:594
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::MotionDoneWait
int32_t MotionDoneWait()
Waits for a move to complete.
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::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:4312
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:4316
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:4325
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisLogicSet
void MotionHoldAxisLogicSet(RSIUserLimitLogic logic)
Set the logic when holding for Axis ActualPosition.
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:497
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:184
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:12412
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:12513
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:150
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:173
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:11895
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1159
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1451
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1425
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1431
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:301
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1419
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:588
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1146
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:540
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1249
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1139
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:568
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:1319
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:966
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1038
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:659
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:646
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1265
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1115
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:434
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:295
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1255
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1311
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:594
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:917
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1060
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:497
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1168
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:633
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1412
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1357
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1095
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:284
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1299
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:397
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1325
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:626
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1228
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1133
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:677
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:1014
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:889
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1153
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:911
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1331
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1054
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1352
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network PDO index types for configuring axis input/output mappings.
Definition rsienums.h:1390
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:580
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1189
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:879
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1218
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:956
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMaximum
static constexpr int32_t RmpThreadPriorityMaximum
The maximum thread priority for the real-time system.
Definition rsi.h:913
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:889
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:994
RSI::RapidCode::MotionController::CreationParameters::RmpPath
char RmpPath[PathLengthMaximum]
Location of the RMP firmware executable, license, and associated binaries and resources.
Definition rsi.h:962
RSI::RapidCode::MotionController::CreationParameters::ControllerIndexDefault
static constexpr int32_t ControllerIndexDefault
The default value for ControllerIndex.
Definition rsi.h:876
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:919
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMinimum
static constexpr int32_t RmpThreadPriorityMinimum
The minimum thread priority for the real-time system.
Definition rsi.h:907
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMaximumDefault
static constexpr int32_t RmpThreadPriorityMaximumDefault
The default value for RmpThreadPriorityMax.
Definition rsi.h:895
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:901
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1014
RSI::RapidCode::MotionController::CreationParameters::NicPrimary
char NicPrimary[PathLengthMaximum]
Primary EtherCAT Network Interface (NIC) name.
Definition rsi.h:968
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:1026
RSI::RapidCode::MotionController::CreationParameters::PathLengthMaximum
static constexpr uint32_t PathLengthMaximum
MotionController::CreationParameters Maximum string buffer length.
Definition rsi.h:882
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:932
RSI::RapidCode::MotionController::CreationParameters::NicSecondary
char NicSecondary[PathLengthMaximum]
Secondary EtherCAT Network Interface (NIC) name. Reserved for future use.
Definition rsi.h:974
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:866
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3819
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3812
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional).
Definition rsi.h:3817
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:3818
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:3813
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:3814
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:3815
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:3816
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3820
RSI::RapidCode::FirmwareValue
Union representing a generic RMP firmware value with multiple data types, stored in 64-bits.
Definition rsi.h:468
RSI::RapidCode::FirmwareValue::Float
float Float
Single precision (32-bit) floating-point.
Definition rsi.h:476
RSI::RapidCode::FirmwareValue::Int64
int64_t Int64
64-bit signed integer.
Definition rsi.h:478
RSI::RapidCode::FirmwareValue::UInt8
uint8_t UInt8
8-bit unsigned integer.
Definition rsi.h:471
RSI::RapidCode::FirmwareValue::Int8
int8_t Int8
8-bit signed integer.
Definition rsi.h:470
RSI::RapidCode::FirmwareValue::Double
double Double
Double precision (64-bit) floating-point.
Definition rsi.h:477
RSI::RapidCode::FirmwareValue::Int32
int32_t Int32
32-bit signed integer.
Definition rsi.h:474
RSI::RapidCode::FirmwareValue::UInt16
uint16_t UInt16
16-bit unsigned integer.
Definition rsi.h:473
RSI::RapidCode::FirmwareValue::Int16
int16_t Int16
16-bit signed integer.
Definition rsi.h:472
RSI::RapidCode::FirmwareValue::Bool
bool Bool
Boolean value.
Definition rsi.h:469
RSI::RapidCode::FirmwareValue::UInt32
uint32_t UInt32
32-bit unsigned integer.
Definition rsi.h:475
RSI::RapidCode::FirmwareValue::UInt64
uint64_t UInt64
64-bit unsigned integer.
Definition rsi.h:479