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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 = 128;
818
820 static inline constexpr uint32_t MotionCountMaximum = 128;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 128;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 128;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 128;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 128;
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
1516 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1517
1524 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1525
1528 virtual bool IsLicensed() PURE_VIRTUAL;
1529
1531 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1532
1534 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1535
1537 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1538
1540 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1541
1566 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1567
1584 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1585
1611 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1612
1636 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1637
1640 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1641
1658 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1659
1674 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1676
1681
1699 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1700
1718 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1719
1721 virtual bool HasMechaWare() PURE_VIRTUAL;
1722
1746 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1747
1748
1766 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1767
1793 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1794
1809 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1810
1811
1812
1829 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1830
1856 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1857
1876 virtual uint64_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1877
1878
1879
1880
1903 virtual uint64_t HostAddressGet(uint64_t firmwareAddress) PURE_VIRTUAL;
1904
1905
1906
1929 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1930
1931
1932
1933
1942 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1943
1944
1945
1954 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1955
1970 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1971
1989 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1990
1991
2004 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2005
2010 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2011
2025 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2026
2027
2028
2044 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2046
2051
2053 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2054
2056 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2057
2072 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2073
2119 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2120
2141 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2142
2149 virtual void NetworkStart() PURE_VIRTUAL;
2150
2155 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2156
2163 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2164
2169 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2170
2181 virtual void NetworkShutdown() PURE_VIRTUAL;
2182
2185 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2186
2200
2211 virtual NetworkStatus NetworkStatusGet() PURE_VIRTUAL;
2212
2214 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2215
2217 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2218
2220 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2221
2225 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2226
2229 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2230
2233 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2234
2238 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2239
2240
2241
2245 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2246
2250 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2251
2254 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2255
2256
2260 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2261
2263 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2264
2266 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2267
2283 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2284
2301 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2302
2321 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2322
2327 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2328
2339 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2340
2352 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2353
2364 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2365
2366
2367
2368
2385 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2386
2399 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2400
2415 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2416
2420 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2421
2423 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2424
2429 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2430
2432 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2433
2435 virtual void NetworkTimingClear() PURE_VIRTUAL;
2436
2438 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2439
2441 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2442
2444 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2445
2447 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2448
2450 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2451
2453 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2454
2456 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2457
2459 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2461
2466
2483 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2484
2503 virtual void InterruptWake() PURE_VIRTUAL;
2504
2532 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2533
2559 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2560
2580 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2581
2583 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2584
2595 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2596
2598 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2599
2612 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2613
2624 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2625
2635 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2636
2663
2664 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2666
2671
2672
2673
2692 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2693
2711 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2712
2729 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2730
2732 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2733
2750 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2751
2753 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2754
2770 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2771
2773 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2774
2791 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2792
2794 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2795
2796
2802 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2803
2817
2823 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2824
2831 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2832
2838 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2839
2846 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2847
2854 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2855
2864 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2865
2881 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2882
2884 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2885
2902 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2903
2905 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2906
2920 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2921
2923 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2924
2939 virtual void RecorderStart() PURE_VIRTUAL;
2940
2942 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2943
2960 virtual void RecorderStop() PURE_VIRTUAL;
2961
2963 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2964
2965
2966
2982 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2983
2985 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2986
3001 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
3002
3022 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
3023
3025 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
3026
3043 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3044
3046 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3047
3066 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3067
3069 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3070
3072 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3073
3092 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3093
3095 virtual FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t index) PURE_VIRTUAL;
3096
3098 virtual FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3099
3120 virtual FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3121
3139 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3140
3142 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3143
3158 virtual void RecorderReset() PURE_VIRTUAL;
3159
3161 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3162
3174 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3175
3192 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3194
3199
3200
3201
3202
3227 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3228
3248 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3249
3260 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3261
3281 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3282
3296 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3297
3323 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;
3324
3354 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;
3355
3376 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;
3377
3398 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;
3399
3411 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3412
3424 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3425
3445 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3446
3447
3448
3449
3450
3451
3463
3464 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3465
3475 virtual void CompensatorDisable(int32_t compensatorNumber, bool force = false) PURE_VIRTUAL;
3476
3483 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3484
3486
3491
3511 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3512
3532 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3533
3553 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3554
3557 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3558
3560 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3561
3563 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3564
3566 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3567
3569 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3570
3572 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3573
3598 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3599
3621 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3622
3624 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3625
3627 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3628
3630 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3631
3633 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3634
3636 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3637
3639 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3640
3667 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3668
3671 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3672
3675 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3676
3679 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3680
3696 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3697
3699 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3700
3702 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3703
3705 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3706
3708 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3709
3711 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3712
3714 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3715
3717 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3718
3720 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3721
3723 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3724
3725
3727 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3728
3749 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3750
3771 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3772
3774 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3775
3790 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3791
3803 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3804
3813
3814 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3815
3833 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3834
3836 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3838
3839
3844
3854 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3855
3866 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3867
3886
3888 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3889
3891 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3892
3894 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3895
3897
3898
3903
3905 RapidCodeOS* OS;
3906
3908};
3909
3913class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3914public:
3915
3920
3922 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3923
3925
3926
3931
3933 virtual bool Exists() PURE_VIRTUAL;
3934
3936 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3937
3939 virtual bool IsEtherCAT() PURE_VIRTUAL;
3940
3942 virtual bool IsSynqNet() PURE_VIRTUAL;
3943
3945
3950
3958 virtual bool HasIO() PURE_VIRTUAL;
3959
3969 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3970
3980 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3981
3990 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3991
4001 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
4002
4012 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
4013
4022 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
4023
4025
4029
4037 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
4038
4046 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
4047
4055 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
4056
4064 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4065
4066
4068 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4069
4071 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4072
4074 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4075
4077 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4078
4080 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4081
4083 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4084
4097 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4098
4111 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4112
4125 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4126
4139 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4140
4152 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4153
4165 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4166
4178 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4179
4191 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4192
4208 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4209
4222 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4223
4234 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4235
4251 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4252
4265 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds = SDOTimeoutMillisecondsDefault) PURE_VIRTUAL;
4266
4275 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4276
4282 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4283
4285 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4286
4288 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4289
4302 virtual const char* const NameGet() PURE_VIRTUAL;
4303
4316 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4317
4330 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4331
4333 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4334
4336 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4337
4339 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4340
4342 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4343
4345 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4346
4348 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4349
4362
4373 virtual Status StatusGet() PURE_VIRTUAL;
4374
4382 virtual void StatusClear() PURE_VIRTUAL;
4383};
4384
4386
4389class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4390public:
4391
4393 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4394
4396 static inline constexpr int32_t WaitForever = -1;
4397
4403
4405 MotionController* rsiControl;
4406
4408
4409
4413
4431 virtual int32_t NumberGet() PURE_VIRTUAL;
4432
4449 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4450
4454
4479 virtual void TriggeredModify() PURE_VIRTUAL;
4480
4507 virtual void Stop() PURE_VIRTUAL;
4508
4533 virtual void Resume() PURE_VIRTUAL;
4534
4559 virtual void EStop() PURE_VIRTUAL;
4560
4581 virtual void EStopAbort() PURE_VIRTUAL;
4582
4599 virtual void EStopModify() PURE_VIRTUAL;
4600
4603 virtual void EStopModifyAbort() PURE_VIRTUAL;
4604
4626 virtual void Abort() PURE_VIRTUAL;
4627
4654 virtual void ClearFaults() PURE_VIRTUAL;
4655
4694 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState = false) PURE_VIRTUAL;
4695
4706 virtual bool AmpEnableGet() PURE_VIRTUAL;
4707
4727
4728 virtual void Map() PURE_VIRTUAL;
4729
4747 virtual void Unmap() PURE_VIRTUAL;
4748
4753 virtual bool IsMapped() PURE_VIRTUAL;
4754
4771 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4772
4791 virtual double FeedRateGet() PURE_VIRTUAL;
4792
4796
4797
4798
4799
4819 virtual RSIState StateGet() PURE_VIRTUAL;
4820
4848 virtual RSISource SourceGet() PURE_VIRTUAL;
4849
4874 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4875
4904 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds = WaitForever) PURE_VIRTUAL;
4905
4926 virtual bool MotionDoneGet() PURE_VIRTUAL;
4927
4950 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4951
4966 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4967
4971
5000 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
5001
5015 virtual void InterruptWake() PURE_VIRTUAL;
5016
5020
5036 virtual double StopTimeGet() PURE_VIRTUAL;
5037
5053 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
5054
5070 virtual double EStopTimeGet() PURE_VIRTUAL;
5071
5087 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
5088
5105 virtual double MotionDelayGet() PURE_VIRTUAL;
5106
5127 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
5128
5149 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5150
5168 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5169
5171 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5172
5174 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5175
5190 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5191
5199 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5200
5220 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5221
5254 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5255
5267 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5268
5287
5288 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5289
5306 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5307
5326 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5327
5351 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5352
5375 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5376
5393 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5394
5411 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5412
5429
5430 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5431
5448 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5449
5451 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5452
5454 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5455
5472 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5473
5490 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5491
5507 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5508
5524 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5525
5541 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5542
5558 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5559
5561 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5562
5587
5588 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5589
5608 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5609
5626
5627 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5628
5632
5633
5634
5670 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;
5671
5709 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;
5710
5740 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;
5741
5778 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;
5779
5820 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;
5821
5826 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5827
5849 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5850
5855 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5856
5875 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5876
5892 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5893
5913 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5914};
5915
5916
5921class RSI_API Axis : public virtual RapidCodeMotion{
5922public:
5923
5924 friend class MotionController;
5925 friend class MultiAxis;
5926
5927
5932
5934 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5935
5937 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5938
5940
5941
5946
5951 RapidCodeNetworkNode* NetworkNode;
5952
5953
5955
5960
5998 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5999
6021 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
6022
6045 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
6046
6054
6055 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6056
6066 virtual void MoveSCurve(double position) PURE_VIRTUAL;
6067
6071 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6072
6076 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
6077
6112 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
6113
6151 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
6152
6194 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6195
6202 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
6203
6209 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6211
6216
6241 virtual void PositionSet(double position) PURE_VIRTUAL;
6242
6261 virtual double ActualPositionGet() PURE_VIRTUAL;
6262
6284 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6285
6302 virtual double CompensationPositionGet() PURE_VIRTUAL;
6303
6316 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6317
6329 virtual double TargetPositionGet() PURE_VIRTUAL;
6330
6350 virtual double CommandPositionGet() PURE_VIRTUAL;
6351
6383 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6384
6408 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6409
6426 virtual double OriginPositionGet() PURE_VIRTUAL;
6427
6450 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6451
6472 virtual double PositionErrorGet() PURE_VIRTUAL;
6473
6495 virtual double CommandVelocityGet() PURE_VIRTUAL;
6496
6519 virtual double ActualVelocityGet() PURE_VIRTUAL;
6520
6541 virtual double CommandAccelGet() PURE_VIRTUAL;
6542
6544 virtual double CommandJerkGet() PURE_VIRTUAL;
6545
6566 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6567
6589 virtual double UserUnitsGet() PURE_VIRTUAL;
6590
6613 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6614
6616 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6617
6619 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6620
6640 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6642
6647
6668 virtual void Home(bool moveToZero = true) PURE_VIRTUAL;
6669
6688
6689 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6690
6709
6710 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6711
6732
6733 virtual double HomeOffsetGet() PURE_VIRTUAL;
6734
6779 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6780
6799 virtual double HomeVelocityGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
6800
6821 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6822
6827 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6828
6844 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6845
6861 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6862
6881 virtual double HomeAccelerationGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
6882
6902
6903 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6904
6908 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6909
6927 virtual double HomeDecelerationGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
6928
6947
6948 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6949
6953 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6954
6973 virtual double HomeJerkPercentGet(RSIHomeStage homeStage = RSIHomeStage::RSIHomeStageSTAGE_ONE) PURE_VIRTUAL;
6974
6994 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6995
7000 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
7001
7021 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
7022
7041 virtual bool HomeStateGet() PURE_VIRTUAL;
7042
7055 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
7056
7061 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7062
7064 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7065
7067 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7068
7071 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7072
7094
7095 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
7096
7116 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
7117
7131 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
7132
7144 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
7146
7152
7154 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
7155
7157 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7159
7164 // reads active configuration to report state
7165
7189
7190 virtual bool NegativeLimitGet() PURE_VIRTUAL;
7191
7215 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7216
7245 virtual bool HomeLimitGet() PURE_VIRTUAL;
7246
7274 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7275
7296 virtual bool AmpFaultGet() PURE_VIRTUAL;
7297
7321 virtual bool AmpEnableGet() PURE_VIRTUAL;
7322
7347 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7348
7373 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7374
7397 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7398
7420 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7421
7444 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7445
7467 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7469
7474
7495 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7496
7514 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7515
7536 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7537
7555 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7556
7577
7578 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7579
7598 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7599
7618 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7619
7642 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7643
7662 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7663
7680 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7682
7687
7701 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7702
7717 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7718
7729 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7730
7748 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7749
7759 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7760
7778 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7779
7790 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7791
7809 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7810
7812 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7813
7815 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7816
7836 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7837
7858 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7860
7865
7867 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7868
7870 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7871
7873 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7874
7876 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7877
7879 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7880
7882 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7883
7885 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7886
7888 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7889
7891 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7892
7894 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7895
7897 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7898
7900 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7901
7903 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7904
7906 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7907
7909 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7910
7912 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7914
7918 // /@{
7919
7942 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7943
7966 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7967
7989 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7990
8012 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
8013
8034 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
8035
8056 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
8057
8082 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
8083
8107 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
8108
8134 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
8135
8156 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
8157
8179 virtual double HomeDurationGet() PURE_VIRTUAL;
8180
8203 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8204
8233 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8234
8261 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8262
8285 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8286
8308 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8309
8331 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8332
8355 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8356
8381 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8382
8407 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8408
8432 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8433
8457 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8458
8481 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8482
8505
8506 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8507
8532 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8533
8558 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8559
8580 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8581
8605 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8606
8629 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8630
8653 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8654
8680 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8681
8705 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8706
8729 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8730
8753 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8754
8778 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8779
8803 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8804
8827 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8828
8851 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8852
8878 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8879
8904 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8905
8929 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8930
8952 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8953
8975 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8976
8998 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8999
9001 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
9002
9004 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
9005
9021 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
9022
9036 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
9037
9038 // common limit methods
9039
9041 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
9042
9044 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
9045
9047 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
9048
9050 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
9051
9053 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
9054
9056 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
9057
9059 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
9060
9062 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
9064
9069
9083 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
9084
9098 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
9099
9113 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
9114
9130
9131 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
9132
9146 virtual double VelocityToleranceGet() PURE_VIRTUAL;
9147
9161 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
9162
9177 virtual double SettlingTimeGet() PURE_VIRTUAL;
9178
9193 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9194
9211 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9212
9229
9230 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9231
9248 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9249
9265 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9266
9283 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9284
9300 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9302
9307
9324 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9325
9341 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9342
9359 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9360
9378 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9379
9397
9398 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9399
9415 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9416
9432 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9433
9434
9451 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9452
9468 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9469
9487 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9488
9490 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9491
9493 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9494
9496 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9497
9499 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9500
9502 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9503
9504
9506 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9507
9509 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9510
9528 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9529
9531 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9532
9534 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9535
9557 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9558
9560 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9561
9563 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9564
9566 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9567
9569 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9570
9572 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9573
9576 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9577
9579 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9580
9582 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9583
9602 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9603
9623 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9624
9644 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9645
9671 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9673
9678
9699 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9700
9704 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9705
9724 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9725
9742 virtual void GearingDisable() PURE_VIRTUAL;
9743
9745 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9746
9748 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9749
9751 virtual bool GearingEnableGet() PURE_VIRTUAL;
9752
9770 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9771
9784 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9786
9791
9808 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9809
9824 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9825
9842 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9843
9861 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9862
9880 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9881
9903 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9904
9934 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;
9935
9952
9953 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9955
9960
9973 virtual double BacklashWidthGet() PURE_VIRTUAL;
9974
9987 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9988
10001 virtual double BacklashRateGet() PURE_VIRTUAL;
10002
10015 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
10016
10017
10028 virtual double BacklashValueGet() PURE_VIRTUAL;
10030
10035
10063 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
10064
10089 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
10090
10116 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10117
10140 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10141
10144 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10145
10149 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10150
10185 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10186
10215 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10216
10233 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10234
10236 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10237
10250 virtual double FilterLowPassGet() PURE_VIRTUAL;
10251
10267 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10268
10287 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10288
10289
10291 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10292
10293
10295 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10296
10298 virtual bool IsTuneable() PURE_VIRTUAL;
10299
10316 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10317
10333 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10334
10353 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10354
10370 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10371
10389 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10390
10409 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10410
10429 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10430
10446 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10447
10468 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10469
10471 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10472 //virtual RSIFilterPostFilterSection PostFilterSection;
10474
10479
10499 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10500
10521 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10523
10528
10550 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10551
10570 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10571
10591 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10592
10611 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10612
10632 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10633
10652 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10653
10674 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10676
10677
10702 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10703
10738 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10739
10747 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10748
10755 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10756
10780 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10781
10805 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10806
10815 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10816
10826 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10827
10834 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10835
10837};
10838
10842class RSI_API MultiAxis : public virtual RapidCodeMotion {
10843public:
10844
10848
10862 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10863
10866 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10867
10880 virtual void AxisRemoveAll() PURE_VIRTUAL;
10881
10885
10901 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10902
10922 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10923
10944 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10945
10949
10964 virtual double VectorVelocityGet() PURE_VIRTUAL;
10965
10981 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10982
10997 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10998
11021 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
11022
11037 virtual double VectorDecelerationGet() PURE_VIRTUAL;
11038
11061 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
11062
11077 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
11078
11101 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
11102
11126 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
11127
11130 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
11131
11135
11155
11156 virtual double PathTimeSliceGet() PURE_VIRTUAL;
11157
11178
11179 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
11180
11205 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
11206
11209 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
11210
11227 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11228
11237
11238 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11239
11248
11249 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11250
11269 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11270
11291 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11292
11312 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11313
11332 virtual void PathListEnd() PURE_VIRTUAL;
11333
11350 virtual void PathMotionStart() PURE_VIRTUAL;
11351
11355
11373 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11374
11377 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11378
11408 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;
11409
11420 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11421
11426 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;
11427
11442 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11443
11447 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11448
11470 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;
11471
11482 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11483
11488 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;
11489
11506 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11507
11524 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11525
11543 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11544
11546 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11547
11561 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11562
11576 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11577
11587 virtual bool AmpEnableGet() PURE_VIRTUAL;
11588
11589
11590};
11591
11597class RSI_API IOPoint : public virtual RapidCodeObject {
11598public:
11603
11620 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11621
11638 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11639
11655 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11656 // use NetworkNode*
11657 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11658
11669 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11670
11684 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11685
11703 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11704
11721 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11722
11738 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11739 // use NetworkNode*
11740 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11741
11742
11755 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11756
11770 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11771
11786 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11787 // use RapidCodeNetworkNode*
11788 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11789
11804 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11805 // use RapidCodeNetworkNode*
11806 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11807
11809
11813
11816 virtual uint64_t AddressGet() PURE_VIRTUAL;
11817
11820 virtual int32_t MaskGet() PURE_VIRTUAL;
11821
11824 virtual bool IsDigital() PURE_VIRTUAL;
11825
11826
11829 virtual bool IsOutput() PURE_VIRTUAL;
11830
11834
11838 virtual bool Get() PURE_VIRTUAL;
11839
11846 virtual void Set(bool state) PURE_VIRTUAL;
11847
11851
11855 virtual double ValueGet() PURE_VIRTUAL;
11856
11860 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11861};
11862
11866class RSI_API RTOS {
11867
11868public:
11869#if defined(_WIN32)
11874
11877 static INtimeStatus INtimeStatusGet();
11878
11883 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11884
11887 static INtimeStatus INtimeStart();
11888
11893 static INtimeStatus INtimeStart(const char* const nodeName);
11894
11897 static INtimeStatus INtimeStop();
11898
11903 static INtimeStatus INtimeStop(const char* const nodeName);
11904
11907 static INtimeStatus INtimeRestart();
11908
11913 static INtimeStatus INtimeRestart(const char* const nodeName);
11914
11917 static const char* const INtimeCatalogRMPGet();
11918
11921 static const char* const INtimeCatalogRMPNetworkGet();
11922
11925 static uint32_t INtimeNodeCountGet();
11926
11930 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11931
11935 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11937#endif // _WIN32
11938};
11939
11941class RSI_API Trace
11942{
11943public:
11948
11961 static void MaskSet(RSITrace mask);
11962
11978 static void MaskOnSet(RSITrace maskOn);
11979
11980
12000 static bool MaskOnGet(RSITrace maskOn);
12001
12017 static void MaskOffSet(RSITrace maskOff);
12018
12031 static void MaskClear();
12032
12047 static int32_t FileSet(const char* const fileName);
12048
12061 static void FileClose();
12062
12077 static void InjectMessage(RSITrace traceLevel, const char* const message);
12078
12080};
12081
12083
12085
12089class RSI_API IO : public virtual RapidCodeObject {
12090public:
12091
12092 friend class MotionController;
12093
12098
12100 RapidCodeNetworkNode* NetworkNode;
12102 MotionController* rsiControl;
12103
12105
12110
12111
12144 virtual bool IOExists() PURE_VIRTUAL;
12145
12162 virtual int32_t NumberGet() PURE_VIRTUAL;
12164
12169
12170
12171
12201 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
12202
12235 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
12236
12267 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12268
12291 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12292
12324 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12325
12357 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12359
12369 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12370
12377 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12378};
12379
12380#if defined(__cplusplus)
12381}
12382#endif
12383
12384template<typename ContainerClass>
12385class RSI_API RapidVectorIterator
12386{
12387public:
12389 typedef typename ContainerClass::ValueType ValueType;
12390
12392 typedef typename ContainerClass::PointerType PointerType;
12393
12396 ValueType& operator*();
12397
12400 const ValueType& operator*() const;
12401
12404 RapidVectorIterator& operator++();
12405
12408 RapidVectorIterator operator++(int);
12409
12412 bool operator==(const RapidVectorIterator&) const;
12413
12416 bool operator!=(const RapidVectorIterator&) const;
12417
12419 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12420
12422 RapidVectorIterator(const RapidVectorIterator&) = default;
12423
12425 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12426
12428 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12429
12431 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12432private:
12433 PointerType pointer;
12434 PointerType start, end;
12435 void VerifyPointer() const;
12436};
12437
12438// Forward declaration of the RapidVectorImplementation class.
12439template<typename Type>
12440class RapidVectorImplementation;
12441
12444
12457template<typename Type>
12458class RSI_API RapidVector
12459{
12460private:
12461 // The pointer to the implementation.
12462 RapidVectorImplementation<Type>* pImpl;
12463public:
12467 Type& operator[](const size_t index);
12468
12472 const Type& operator[](const size_t index) const;
12473
12477 Type& At(const size_t index);
12478
12482 const Type& At(const size_t index) const;
12483
12486 void PushBack(const Type& element);
12487
12490 void PushBack(Type&& element);
12491
12494 const size_t Size() const;
12495
12497 void Clear();
12498
12500 void PopBack();
12501
12504 Type& Front();
12505
12508 const Type& Front() const;
12509
12512 Type& Back();
12513
12516 const Type& Back() const;
12517
12520 void Reserve(const size_t capacity);
12521
12523 RapidVector();
12524
12526#if defined(SWIG) && defined(__linux__)
12527 // SWIG 4.3.0 on Linux cannot parse the complex SFINAE template syntax
12528 // This constructor is ignored via %ignore in the .i files anyway
12529 explicit RapidVector(const size_t size);
12530#elif defined(_WIN32)
12531 template<typename = typename std::enable_if_t<std::is_default_constructible_v<Type>>>
12532 explicit RapidVector(const size_t size);
12533#else
12534 template<typename UType = Type, typename Enable = typename std::enable_if<std::is_default_constructible<UType>::value>::type>
12535 explicit RapidVector(const size_t size);
12536#endif
12537
12539 RapidVector(RapidVectorImplementation<Type>*);
12540
12542 ~RapidVector();
12543
12545 RapidVector(const RapidVector& other);
12546
12548 RapidVector& operator=(const RapidVector& other);
12549
12551 RapidVector(RapidVector&& other) noexcept;
12552
12554 RapidVector& operator=(RapidVector&& other) noexcept;
12555
12556 typedef Type* PointerType;
12557 typedef Type ValueType;
12558
12560 typedef RapidVectorIterator<RapidVector> Iterator;
12561
12564 Iterator begin() noexcept;
12565
12568 Iterator begin() const noexcept;
12569
12573 Iterator end() const noexcept;
12574};
12575
12577
12578} // namespace RapidCode
12579
12580} // namespace RSI
12581
12582#endif // _RSI_H
RSI::RapidCode::Axis::NetworkIndexGet
uint32_t NetworkIndexGet(RSINetworkIndexType indexType)
Get the PDO array index for an axis signal mapping.
RSI::RapidCode::Axis::FilterCoeffSet
void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue)
Set a filter coefficient (ex: Kp, Ki, Kd).
RSI::RapidCode::Axis::HardwareNegLimitActionSet
void HardwareNegLimitActionSet(RSIAction action)
Set the action that will occur when the Hardware Negative Limit Event triggers.
RSI::RapidCode::Axis::ErrorLimitDurationSet
void ErrorLimitDurationSet(double seconds)
Sets the duration required before the Position Error Limit event triggers.
RSI::RapidCode::Axis::PositionErrorGet
double PositionErrorGet()
Get the current position error.
RSI::RapidCode::Axis::HomeTravelDistanceSet
void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel)
Set the max travel used in a specific Homing Stage.
RSI::RapidCode::Axis::HomeLimitGet
bool HomeLimitGet()
Get the current state of the Home limit.
RSI::RapidCode::Axis::AddressGet
uint64_t AddressGet(RSIAxisAddressType addressType)
Get the an address for some location on the Axis.
RSI::RapidCode::Axis::EncoderFaultTriggerGet
RSIMotorFeedbackFault EncoderFaultTriggerGet()
Get the encoders which are used to generate encoder faults.
RSI::RapidCode::Axis::AmpFaultActionGet
RSIAction AmpFaultActionGet()
Get the Amp Fault action.
RSI::RapidCode::Axis::FrameBufferSizeGet
int32_t FrameBufferSizeGet()
RSI::RapidCode::Axis::SettlingTimeGet
double SettlingTimeGet()
Get the Settling time.
RSI::RapidCode::Axis::TriggeredModifyDecelerationSet
void TriggeredModifyDecelerationSet(double decel)
Set the deceleration rate for an Triggered Modify Event.
RSI::RapidCode::Axis::HomeSlowVelocitySet
void HomeSlowVelocitySet(double velocity)
Set the slow home velocity.
RSI::RapidCode::Axis::CommandPositionGet
double CommandPositionGet()
Get the current command position.
RSI::RapidCode::Axis::BrakeApplyDelayGet
double BrakeApplyDelayGet()
Get the delay time for the brake to be applied.
RSI::RapidCode::Axis::DigitalOutputsGet
uint32_t DigitalOutputsGet()
Get all 32 digital output bits at once for this axis.
RSI::RapidCode::Axis::HardwareNegLimitDurationSet
void HardwareNegLimitDurationSet(double seconds)
Set the duration required before the Hardware Negative Limit event triggers.
RSI::RapidCode::Axis::StepperMotorPulseTypeGet
RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse)
Determine how the stepper pulse outputs are configured.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position)
MoveSCurve with the Axis defaults trajectory values from DefaultVelocitySet, DefaultAccelerationSet,...
RSI::RapidCode::Axis::DigitalIoExists
bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber)
Determine if a particular General I/O bit exists for a motor.
RSI::RapidCode::Axis::SoftwarePosLimitTriggerValueSet
void SoftwarePosLimitTriggerValueSet(double triggerValue)
Set the Software Positive Position limit.
RSI::RapidCode::Axis::AnalogInGet
double AnalogInGet(int32_t channel)
Get the value of an analog input.
RSI::RapidCode::Axis::GearingSourceGet
RSIAxisMasterType GearingSourceGet()
Get the Source used to slave to the Master Axis.
RSI::RapidCode::Axis::CommandPositionSet
void CommandPositionSet(double position)
Sets the value of the command and actual positions of an axis.
RSI::RapidCode::Axis::HardwarePosLimitActionSet
void HardwarePosLimitActionSet(RSIAction action)
Set the action that will occur when the Hardware Positive Limit Event triggers.
RSI::RapidCode::Axis::DigitalIoNameGet
const char *const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber)
Get the name of a Motor I/O bit.
RSI::RapidCode::Axis::HomeBehaviorGet
RSIAction HomeBehaviorGet()
Get the Action used during Master based Homing.
RSI::RapidCode::Axis::FeedbackPointerSet
void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address)
Configure an axis for dual loop feedback.
RSI::RapidCode::Axis::MotorTypeGet
RSIMotorType MotorTypeGet()
Get the motor type.
RSI::RapidCode::Axis::AmpDisableActionSet
void AmpDisableActionSet(RSIMotorDisableAction action)
Set the Amp Disable action.
RSI::RapidCode::Axis::SoftwareNegLimitTriggerValueGet
double SoftwareNegLimitTriggerValueGet()
Get the Software Negative Position limit.
RSI::RapidCode::Axis::PositionToleranceCoarseSet
void PositionToleranceCoarseSet(double tolerance)
Set the Coarse Position Tolerance for Axis settling.
RSI::RapidCode::Axis::OriginPositionSet
void OriginPositionSet(double position)
Set the origin position.
RSI::RapidCode::Axis::UserUnitsGet
double UserUnitsGet()
Get the number of counts per User Unit.
RSI::RapidCode::Axis::BacklashRateSet
void BacklashRateSet(double rate)
Sets the rate at which Backlash is applied.
RSI::RapidCode::Axis::AmpEnableGet
bool AmpEnableGet()
Get the state of the Amp Enable Output.
RSI::RapidCode::Axis::SettleOnStopSet
void SettleOnStopSet(bool state)
Set the Stop Event settling configuration.
RSI::RapidCode::Axis::DriveIndexGet
int32_t DriveIndexGet()
Get the drive index, relative to the Network Node (multi-axis drives).
RSI::RapidCode::Axis::HomeBehaviorSet
void HomeBehaviorSet(RSIAction behavior)
Set the Action used for Master based homing.
RSI::RapidCode::Axis::HomeSwitchGet
bool HomeSwitchGet()
Get the current state of the Home switch input.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition)
RSI::RapidCode::Axis::PositionToleranceFineGet
double PositionToleranceFineGet()
Get the Fine Position Tolerance for axis settling.
RSI::RapidCode::Axis::EncoderFaultDurationGet
double EncoderFaultDurationGet()
Get the duration required before the Encoder Fault Limit event triggers.
RSI::RapidCode::Axis::SettleOnEStopCmdEqActGet
bool SettleOnEStopCmdEqActGet()
Get the E-Stop Event settling configuration when E-Stop is configured for (Command = Actual).
RSI::RapidCode::Axis::Home
void Home(bool moveToZero=true)
Execute the homing routine.
RSI::RapidCode::Axis::DigitalIoValidTypesMaskGet
RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber)
Get the type mask for a Motor I/O bit.
RSI::RapidCode::Axis::HardwarePosLimitActionGet
RSIAction HardwarePosLimitActionGet()
Get the action that will occur when the Hardware Positive Limit Event triggers.
RSI::RapidCode::Axis::FilterGainTableSizeGet
int32_t FilterGainTableSizeGet()
Gets the size of gain tables.
RSI::RapidCode::Axis::OperationModeSet
void OperationModeSet(RSIOperationMode mode)
Set the axis operation mode.
RSI::RapidCode::Axis::CommandPositionDirectSet
void CommandPositionDirectSet(double position)
directly sets the value of the command position of an axis
RSI::RapidCode::Axis::HomeMethodGet
RSIHomeMethod HomeMethodGet()
Get the method to be used for homing.
RSI::RapidCode::Axis::MotorFaultMaskGet
int32_t MotorFaultMaskGet()
Get the Motor Fault Mask.
RSI::RapidCode::Axis::MoveCamLinear
void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double *const masterDistances, const double *const slavePositions, int32_t pointCount)
Enable this Axis to be linear follower (slave) using an electronic cam.
RSI::RapidCode::Axis::BrakeModeSet
void BrakeModeSet(RSIMotorBrakeMode mode)
Set the brake mode.
RSI::RapidCode::Axis::HomeVelocitySet
void HomeVelocitySet(double velocity)
Set the home velocity.
RSI::RapidCode::Axis::DigitalInGet
bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber)
Read a digital input.
RSI::RapidCode::Axis::CompensationPositionGet
double CompensationPositionGet()
Get the compensator position.
RSI::RapidCode::Axis::TriggeredModifyDecelerationGet
double TriggeredModifyDecelerationGet()
Get the deceleration rate for an Triggered Modify Event.
RSI::RapidCode::Axis::BacklashHysteresisLimitSet
void BacklashHysteresisLimitSet(double hysteresisLimit)
Brief.
RSI::RapidCode::Axis::MoveVelocitySCurve
void MoveVelocitySCurve(double velocity, double accel, double jerkPct)
Command a constant velocity move (jog) with non-constant acceleration.
RSI::RapidCode::Axis::FilterAlgorithmSet
void FilterAlgorithmSet(RSIFilterAlgorithm algorithm)
Set the algorithm type for an axis.
RSI::RapidCode::Axis::HomeLimitCustomConfigBitIndexGet
int32_t HomeLimitCustomConfigBitIndexGet()
RSI::RapidCode::Axis::HardwarePosLimitTriggerStateSet
void HardwarePosLimitTriggerStateSet(bool state)
sets the trigger state.
RSI::RapidCode::Axis::UserLabelGet
const char *const UserLabelGet()
Get the axis User defined Label.
RSI::RapidCode::Axis::PostTrajectoryGearingMasterAxisSet
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber)
Set the master axis for post-trajectory gearing.
RSI::RapidCode::Axis::NetworkNode
NetworkNode * NetworkNode
Gets the associated NetworkNode object.
Definition rsi.h:5951
RSI::RapidCode::Axis::FilterGainTableGet
int32_t FilterGainTableGet()
Gets which gain table is currently in use by the axis.
RSI::RapidCode::Axis::SoftwareNegLimitActionSet
void SoftwareNegLimitActionSet(RSIAction action)
Set the action that will occur when the Software Negative Limit Event triggers.
RSI::RapidCode::Axis::BacklashHysteresisLimitGet
double BacklashHysteresisLimitGet()
Get the backlash hysteresis limit.
RSI::RapidCode::Axis::ActualVelocityGet
double ActualVelocityGet()
Get the current actual velocity.
RSI::RapidCode::Axis::HomeAccelerationGet
double HomeAccelerationGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the deceleration used for homing.
RSI::RapidCode::Axis::PositiveLimitGet
bool PositiveLimitGet()
Get the state of the Hardware Positive Limit input.
RSI::RapidCode::Axis::PostFilterHighPassSet
void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq)
Use a High Pass Post Filter.
RSI::RapidCode::Axis::UserUnitsSet
void UserUnitsSet(double countsPerUserUnit)
Sets the number of counts per User Unit.
RSI::RapidCode::Axis::OriginPositionGet
double OriginPositionGet()
Get the origin position.
RSI::RapidCode::Axis::EStopJerkPercentSet
void EStopJerkPercentSet(double jerkPct)
Set the jerk percent for an E-Stop, Modify Event.
RSI::RapidCode::Axis::AmpFaultActionSet
void AmpFaultActionSet(RSIAction action)
Set the Amp Fault action.
RSI::RapidCode::Axis::EncoderFaultActionSet
void EncoderFaultActionSet(RSIAction action)
Set the action that will occur when the Encoder Fault Limit Event triggers.
RSI::RapidCode::Axis::UserLabelSet
void UserLabelSet(const char *const userLabel)
Set the axis User defined Label.
RSI::RapidCode::Axis::AmpFaultTriggerStateSet
void AmpFaultTriggerStateSet(bool state)
Set the trigger state of the Amp Fault input.
RSI::RapidCode::Axis::FilterGainTableSet
void FilterGainTableSet(int32_t gainTable)
Set the gain table to be used by an axis.
RSI::RapidCode::Axis::DigitalOutSet
void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue)
Set a digital output bit.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::HomeActionSet
void HomeActionSet(RSIAction action)
Set the action that will occur when the Home Event triggers.
RSI::RapidCode::Axis::DedicatedOutExists
bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber)
Determine if a particular Dedicated output bit exists for a motor.
RSI::RapidCode::Axis::ErrorLimitTriggerValueSet
void ErrorLimitTriggerValueSet(double triggerValue)
Set the Position Error Limit trigger value.
RSI::RapidCode::Axis::StepperMotorLoopbackGet
bool StepperMotorLoopbackGet()
Determine if the stepper is open or closed loop.
RSI::RapidCode::Axis::BrakeApplyDelaySet
void BrakeApplyDelaySet(double seconds)
Set the brake apply delay.
RSI::RapidCode::Axis::MotionCamRepeatFromSet
void MotionCamRepeatFromSet(int32_t repeatFrom)
Set the segment at which camming repeats.
RSI::RapidCode::Axis::HomeActionGet
RSIAction HomeActionGet()
Get the action that will occur when the Home LIMIT triggers.
RSI::RapidCode::Axis::PostFilterBiquadSet
void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo)
Use a Digital Biquad Post Filter.
RSI::RapidCode::Axis::PositionToleranceFineSet
void PositionToleranceFineSet(double tolerance)
Set the Fine Position Tolerance for Axis settling.
RSI::RapidCode::Axis::DigitalIoTypeSet
void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type)
Set the type for a Motor I/O bit.
RSI::RapidCode::Axis::HomeJerkPercentGet
double HomeJerkPercentGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the Jerk Percent used for homing.
RSI::RapidCode::Axis::HomeTriggerStateSet
void HomeTriggerStateSet(bool state)
Set the trigger state for the Home input.
RSI::RapidCode::Axis::DedicatedOutputsGet
uint32_t DedicatedOutputsGet()
Get all 32 dedicated output bits at once for this axis.
RSI::RapidCode::Axis::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:5937
RSI::RapidCode::Axis::AmpDisableActionGet
RSIMotorDisableAction AmpDisableActionGet()
Get the Amp Disable action.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity)
RSI::RapidCode::Axis::TargetPositionGet
double TargetPositionGet()
Get the target position.
RSI::RapidCode::Axis::BacklashRateGet
double BacklashRateGet()
Gets the Backlash Rate which was set by the user.
RSI::RapidCode::Axis::AmpFaultDurationGet
double AmpFaultDurationGet()
Get the duration required before the Amp Fault event triggers.
RSI::RapidCode::Axis::FilterCoeffGet
double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable)
Get value for a filter coefficient (ex: Kp, Ki, Kd, etc).
RSI::RapidCode::Axis::HardwareNegLimitDurationGet
double HardwareNegLimitDurationGet()
Get the duration required before the Hardware Negative Limit event triggers.
RSI::RapidCode::Axis::HardwarePosLimitTriggerStateGet
bool HardwarePosLimitTriggerStateGet()
trigger state return.
RSI::RapidCode::Axis::SettleOnStopGet
bool SettleOnStopGet()
Get the Stop Event settling configuration.
RSI::RapidCode::Axis::SoftwarePosLimitTriggerValueGet
double SoftwarePosLimitTriggerValueGet()
Get the Software Positive Position limit.
RSI::RapidCode::Axis::EncoderFaultDurationSet
void EncoderFaultDurationSet(double seconds)
Set the duration required before the Encoder Fault Limit event triggers.
RSI::RapidCode::Axis::ErrorLimitTriggerValueGet
double ErrorLimitTriggerValueGet()
Get the Position Error Limit trigger value.
RSI::RapidCode::Axis::HomeDecelerationSet
void HomeDecelerationSet(double decel)
Set the decleration to be used for homing when using the switch is not detected before the HomeTravel...
RSI::RapidCode::Axis::PostFilterLowPassSet
void PostFilterLowPassSet(int32_t sectionNumber, double frequency)
Use a Low-Pass filter.
RSI::RapidCode::Axis::SoftwareNegLimitActionGet
RSIAction SoftwareNegLimitActionGet()
Get the action that will occur when the Software Negative Limit Event triggers.
RSI::RapidCode::Axis::HomeCancelSet
void HomeCancelSet(bool cancel)
Cancel Homing.
RSI::RapidCode::Axis::PostTrajectoryGearingMultiplierSet
void PostTrajectoryGearingMultiplierSet(double multiplier)
Set the multiplier for post-trajectory gearing.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::EStopJerkPercentGet
double EStopJerkPercentGet()
Get the jerk percent for an E-Stop, Modify Event.
RSI::RapidCode::Axis::PostTrajectoryGearingMasterAxisGet
int32_t PostTrajectoryGearingMasterAxisGet()
Get the master axis number used for post-trajectory gearing.
RSI::RapidCode::Axis::TriggeredModifyJerkPercentSet
void TriggeredModifyJerkPercentSet(double jerkPct)
Set the jerk percent for an Triggered Modify Event.
RSI::RapidCode::Axis::CommandAccelGet
double CommandAccelGet()
Get the current commanded acceleration.
RSI::RapidCode::Axis::HomeVelocityGet
double HomeVelocityGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the home velocity.
RSI::RapidCode::Axis::PostFilterSingleOrderSet
void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne)
Use a Single Order Post Filter.
RSI::RapidCode::Axis::PostFilterLeadLagSet
void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq)
Use a Lead Lag Post Filter.
RSI::RapidCode::Axis::HardwarePosLimitDurationSet
void HardwarePosLimitDurationSet(double seconds)
Set the duration required before the Hardware Positive Limit event triggers.
RSI::RapidCode::Axis::HomeStateSet
void HomeStateSet(bool homed)
Set the home state.
RSI::RapidCode::Axis::DedicatedInExists
bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber)
Determine if a particular Dedicated input bit exists for a motor.
RSI::RapidCode::Axis::BacklashWidthSet
void BacklashWidthSet(double width)
Sets the total range of the give in a system with Backlash.
RSI::RapidCode::Axis::BacklashWidthGet
double BacklashWidthGet()
Gets the Backlash Width which was set by the user.
RSI::RapidCode::Axis::OperationModeGet
RSIOperationMode OperationModeGet()
Get the operation mode.
RSI::RapidCode::Axis::MotionCamMasterStartSet
void MotionCamMasterStartSet(Axis *master, double startPosition)
Set the position at which camming starts.
RSI::RapidCode::Axis::FilterDualLoopSet
void FilterDualLoopSet(Axis *velocityAxis, RSIMotorFeedback velocityEncoder, bool enable)
Configure an axis for dual loop feedback.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::SettleOnEStopGet
bool SettleOnEStopGet()
Get the E-Stop Event settling configuration.
RSI::RapidCode::Axis::MotionIdExecutingGet
uint16_t MotionIdExecutingGet()
RSI::RapidCode::Axis::EncoderFaultActionGet
RSIAction EncoderFaultActionGet()
Get the action that will occur when the Encoder Fault Limit Event triggers.
RSI::RapidCode::Axis::EncoderFaultTriggerSet
void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder)
Set the encoders which are used to generate encoder faults.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::FilterAlgorithmGet
RSIFilterAlgorithm FilterAlgorithmGet()
Get the control algorithm type for an axis.
RSI::RapidCode::Axis::CommandVelocityGet
double CommandVelocityGet()
Get the current commanded velocity.
RSI::RapidCode::Axis::FramesToExecuteGet
int32_t FramesToExecuteGet()
RSI::RapidCode::Axis::HomeTriggerStateGet
bool HomeTriggerStateGet()
Get the trigger state for the Home input.
RSI::RapidCode::Axis::GearingMasterAddressGet
uint64_t GearingMasterAddressGet()
Get the address of the gearing master.
RSI::RapidCode::Axis::HomeAccelerationSet
void HomeAccelerationSet(double accel)
Set the deceleration used for homing.
RSI::RapidCode::Axis::AddressDataTypeGet
RSIDataType AddressDataTypeGet(RSIAxisAddressType type)
Get the data type for an address the Axis.
RSI::RapidCode::Axis::StepperMotorPulseTypeSet
void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type)
Set how the stepper pulse outputs are configured.
RSI::RapidCode::Axis::VelocityToleranceSet
void VelocityToleranceSet(double tolerance)
Set the Velocity Tolerance used for settling.
RSI::RapidCode::Axis::EncoderCountSet
void EncoderCountSet(int32_t count)
RSI::RapidCode::Axis::StepperMotorLoopbackSet
void StepperMotorLoopbackSet(bool loopback)
Configure the stepper to be open or closed loop.
RSI::RapidCode::Axis::CompensationPositionSet
void CompensationPositionSet(double position)
Set the compensator position.
RSI::RapidCode::Axis::BacklashValueGet
double BacklashValueGet()
Gets the current backlash compensation value.
RSI::RapidCode::Axis::PostTrajectoryGearingScaledOffsetGet
double PostTrajectoryGearingScaledOffsetGet()
Get the current scaled position offset from post-trajectory gearing.
RSI::RapidCode::Axis::PositionToleranceCoarseGet
double PositionToleranceCoarseGet()
Get the Coarse Position Tolerance for axis settling.
RSI::RapidCode::Axis::HomeDecelerationGet
double HomeDecelerationGet(RSIHomeStage homeStage=RSIHomeStage::RSIHomeStageSTAGE_ONE)
Get the decleration to be used for homing when using the switch is not detected before the HomeTravel...
RSI::RapidCode::Axis::EStopDecelerationGet
double EStopDecelerationGet()
Get the deceleration rate for an E-Stop, Modify Event.
RSI::RapidCode::Axis::AmpFaultTriggerStateGet
bool AmpFaultTriggerStateGet()
Get the Amp Fault trigger state.
RSI::RapidCode::Axis::EncoderPositionGet
double EncoderPositionGet(RSIMotorFeedback encoder)
Get the raw encoder position.
RSI::RapidCode::Axis::MotorFaultMaskSet
void MotorFaultMaskSet(int32_t faultMask)
Set the Motor Fault Mask.
RSI::RapidCode::Axis::VelocityToleranceGet
double VelocityToleranceGet()
Get the velocity tolerance used for settling.
RSI::RapidCode::Axis::HomeDurationSet
void HomeDurationSet(double seconds)
Set the duration required before the Home event triggers.
RSI::RapidCode::Axis::HomeMethodSet
void HomeMethodSet(RSIHomeMethod method)
Set the method to be used for homing.
RSI::RapidCode::Axis::EStopDecelerationSet
void EStopDecelerationSet(double decel)
Set the deceleration rate for an E-Stop, Modify Event.
RSI::RapidCode::Axis::TriggeredModifyJerkPercentGet
double TriggeredModifyJerkPercentGet()
Get the jerk percent for an Triggered Modify Event.
RSI::RapidCode::Axis::MoveCamCubic
void MoveCamCubic(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double *const masterDistances, const double *const slavePositions, const double *const gearRatios, int32_t pointCount)
Enable this Axis to be cubic follower (slave) using an electronic cam.
RSI::RapidCode::Axis::PostFilterClear
void PostFilterClear(int32_t sectionNumber)
Remove any Post Filters in section Number.
RSI::RapidCode::Axis::HomeDurationGet
double HomeDurationGet()
Get the duration required before the Home event triggers.
RSI::RapidCode::Axis::NegativeLimitGet
bool NegativeLimitGet()
Get the state of the Hardware Negative Limit input.
RSI::RapidCode::Axis::HomeStateGet
bool HomeStateGet()
Get the home state.
RSI::RapidCode::Axis::SettleOnEStopSet
void SettleOnEStopSet(bool state)
Set the E-Stop Event settling configuration.
RSI::RapidCode::Axis::MotorTypeSet
void MotorTypeSet(RSIMotorType type)
Set the motor type.
RSI::RapidCode::Axis::SoftwareNegLimitTriggerValueSet
void SoftwareNegLimitTriggerValueSet(double triggerValue)
Set the Software Negative Position limit.
RSI::RapidCode::Axis::GearingDisable
void GearingDisable()
Disable the electronic gearing.
RSI::RapidCode::Axis::HomeLimitCustomConfigSet
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex)
RSI::RapidCode::Axis::PositionSet
void PositionSet(double position)
Set the Command and Actual positions.
RSI::RapidCode::Axis::BrakeReleaseDelayGet
double BrakeReleaseDelayGet()
Get the brake release delay time.
RSI::RapidCode::Axis::DedicatedInputsGet
uint32_t DedicatedInputsGet()
Get all 32 dedicated input bits at once for this axis.
RSI::RapidCode::Axis::AmpFaultGet
bool AmpFaultGet()
Get the current state of the Amp Fault input.
RSI::RapidCode::Axis::NetworkIndexSet
void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex)
Override the PDO array index for an axis signal mapping.
RSI::RapidCode::Axis::GearingMasterAxisNumberGet
int32_t GearingMasterAxisNumberGet()
Get a Slave's Master Axis Number.
RSI::RapidCode::Axis::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:5921
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:5934
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:12089
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:12100
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:12102
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:11597
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::FirmwareAddressGet
uint64_t FirmwareAddressGet(uint64_t hostAddress)
Convert a host controller address to a firmware address.
RSI::RapidCode::MotionController::NetworkInputBitOffsetGet
int32_t NetworkInputBitOffsetGet(int32_t index)
RSI::RapidCode::MotionController::RecorderConfigureToTriggerOnMotion
void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion)
Configure the Recorder 0 to trigger on Axis motion.
RSI::RapidCode::MotionController::UserLimitConditionSet
void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32)
Set the conditions for a User Limit with a 32-bit integer trigger value.
RSI::RapidCode::MotionController::SyncInterruptHostProcessStatusClear
void SyncInterruptHostProcessStatusClear()
Clear the Host Process status bit.
RSI::RapidCode::MotionController::MotionCountSet
void MotionCountSet(int32_t motionCount)
Set the number of processed Motion Supervisors in the controller.
RSI::RapidCode::MotionController::MemorySet
void MemorySet(uint64_t address, int32_t data)
Write a value to controller memory.
RSI::RapidCode::MotionController::NetworkOutputOverrideValueGet
uint64_t NetworkOutputOverrideValueGet(int32_t index)
Sets a PDO output directly.
RSI::RapidCode::MotionController::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::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::NetworkNodeCountGet
int32_t NetworkNodeCountGet()
Get the number of nodes discovered on the EtherCAT network.
RSI::RapidCode::MotionController::CompensatorEnable
void CompensatorEnable(int32_t compensatorNumber)
Enables the compensator only if it will cause no errors.
RSI::RapidCode::MotionController::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::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::HostAddressGet
uint64_t HostAddressGet(uint64_t firmwareAddress)
Convert a firmware address to a host controller address.
RSI::RapidCode::MotionController::NetworkInputAddressGet
uint64_t NetworkInputAddressGet(int32_t index)
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::CompensatorDisable
void CompensatorDisable(int32_t compensatorNumber, bool force=false)
Disable a compensator with the option to force the action.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::SyncInterruptHostProcessStatusBitGet
bool SyncInterruptHostProcessStatusBitGet()
See if the host was processing too int32_t on previous Sync Interrupt.
RSI::RapidCode::MotionController::IOGet
IO * IOGet(int32_t nodeNumber)
IOGet returns a pointer to an IO object using its node number and initializes its internals.
RSI::RapidCode::MotionController::RecorderReset
void RecorderReset()
Reset the recorder on Recorder 0.
RSI::RapidCode::MotionController::FirmwareTimingDeltaGet
uint32_t FirmwareTimingDeltaGet()
Get the most recent time (in microseconds) between samples.
RSI::RapidCode::MotionController::RecorderCountGet
int32_t RecorderCountGet()
Get the number of Recorder available in the firmware.
RSI::RapidCode::MotionController::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::NetworkStatusGet
NetworkStatus NetworkStatusGet()
Get the EtherCAT network status.
RSI::RapidCode::MotionController::LoadExistingMultiAxis
MultiAxis * LoadExistingMultiAxis(int32_t motionSupervisorNumber)
Get/Create a MultiAxis object from one that already exists (previously setup) on the RMP motion contr...
RSI::RapidCode::MotionController::MemoryDoubleGet
double MemoryDoubleGet(uint64_t address)
Read a 64-bit double value from controller memory.
RSI::RapidCode::MotionController::CompensatorCountSet
void CompensatorCountSet(int32_t compensatorCount)
Set the number of Compensators available in the firmware.
RSI::RapidCode::MotionController::MotionHoldGateGet
bool MotionHoldGateGet(int32_t gateNumber)
Get the state of the hold gate.
RSI::RapidCode::MotionController::RecorderEnabledGet
bool RecorderEnabledGet()
Determine if the recorder is recording on Recorder 0.
RSI::RapidCode::MotionController::SyncInterruptWait
int32_t SyncInterruptWait()
Suspend the current thread until an interrupt arrives from the controller.
RSI::RapidCode::MotionController::NetworkOutputOverrideGet
bool NetworkOutputOverrideGet(int32_t index)
Gets if the NetworkOutputValue or the RMP cyclic value is exchanged over EtherCAT.
RSI::RapidCode::MotionController::ProcessorUsageClear
void ProcessorUsageClear()
Clear the processor usage percent.
RSI::RapidCode::MotionController::RecorderRecordDataRetrieveBulk
int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount)
Retrieve a group of records of recorded data.
RSI::RapidCode::MotionController::CompensatorConfigSet
void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, int32_t secondInputAxisNumber, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double *const table)
Configure a 2D compensator.
RSI::RapidCode::MotionController::UserLimitCountSet
void UserLimitCountSet(int32_t userLimitCount)
Set the number of processed UserLimits in the MotionController.
RSI::RapidCode::MotionController::RecorderBufferHighCountSet
void RecorderBufferHighCountSet(int32_t bufferHighCount)
Set the high count for the recording buffer on Recorder 0.
RSI::RapidCode::MotionController::CompensatorTableClear
void CompensatorTableClear(int32_t compensatorNumber)
Sets all values in the compensator table to 0.
RSI::RapidCode::MotionController::SerialNumberGet
uint32_t SerialNumberGet(void)
Get the controller's serial number.
RSI::RapidCode::MotionController::StringFromAddressGet
const char *const StringFromAddressGet(uint64_t hostAddress)
Get a human-readable string from a memory address.
RSI::RapidCode::MotionController::InterruptEnableSet
void InterruptEnableSet(bool enable)
Control interrupts for this class.
RSI::RapidCode::MotionController::AxisCountSet
void AxisCountSet(int32_t axisCount)
Set the number of allocated and processed axes in the controller.
RSI::RapidCode::MotionController::NetworkInputDataTypeNameGet
const char *const NetworkInputDataTypeNameGet(int32_t index)
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:3905
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::RecorderRecordDataFirmwareValueGet
FirmwareValue RecorderRecordDataFirmwareValueGet(int32_t index)
This is an overloaded member function, provided for convenience. It differs from the above function o...
RSI::RapidCode::MotionController::UserLimitTriggerTypeGet
RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number)
Get the user limit trigger type.
RSI::RapidCode::MotionController::UserLimitOutputOrMask64Get
uint64_t UserLimitOutputOrMask64Get(int32_t number)
Get the user limit output 64-bit OR mask.
RSI::RapidCode::MotionController::NetworkTimingClear
void NetworkTimingClear()
Clear all the network timing values.
RSI::RapidCode::MotionController::NetworkInputNameGet
const char *const NetworkInputNameGet(int32_t index)
Get the name of a PDO network input.
RSI::RapidCode::MultiAxis::MoveVelocitySCurve
void MoveVelocitySCurve(const double *const velocity, const double *const accel, const double *const jerkPct)
Velocity move with non-constant acceleration.
RSI::RapidCode::MultiAxis::PathListStart
void PathListStart(const double *const startPosition)
Start a line and arc point list for path motion.
RSI::RapidCode::MultiAxis::MoveTrapezoidal
void MoveTrapezoidal(const double *const position, const double *const vel, const double *const accel, const double *const decel)
Point-to-point trapezoidal move.
RSI::RapidCode::MultiAxis::PathMotionStart
void PathMotionStart()
Start the path motion.
RSI::RapidCode::MultiAxis::PathArcAdd
void PathArcAdd(const double *const center, double angle)
Add an arc segment to the path.
RSI::RapidCode::MultiAxis::AxisGet
Axis * AxisGet(int32_t index)
Get the Axis class used in this MultiAxis class.
RSI::RapidCode::MultiAxis::AmpEnableGet
bool AmpEnableGet()
Get the enabled/disabled state of the multi axis.
RSI::RapidCode::MultiAxis::PathRatioSet
void PathRatioSet(const double *const ratio)
Set the scale factor ratios for each axis.
RSI::RapidCode::MultiAxis::VectorJerkPercentGet
double VectorJerkPercentGet()
Get the vector jerk percent.
RSI::RapidCode::MultiAxis::AddressGet
uint64_t AddressGet(RSIMultiAxisAddressType addressType)
Get the host address for some location on the MultiAxis.
RSI::RapidCode::MultiAxis::VectorAccelerationGet
double VectorAccelerationGet()
Get the vector acceleration.
RSI::RapidCode::MultiAxis::PathPlanTypeGet
RSIPathPlanType PathPlanTypeGet()
Get the path motion planning type.
RSI::RapidCode::MultiAxis::UserLabelGet
const char *const UserLabelGet()
Get the MultiAxis User defined Label.
RSI::RapidCode::MultiAxis::UserLabelSet
void UserLabelSet(const char *const userLabel)
Set the MultiAxis User defined Label.
RSI::RapidCode::MultiAxis::VectorVelocityGet
double VectorVelocityGet()
Get the vector velocity.
RSI::RapidCode::MultiAxis::VectorDecelerationGet
double VectorDecelerationGet()
Get the vector deceleration.
RSI::RapidCode::MultiAxis::AxisRemoveAll
void AxisRemoveAll()
Remove all axes from a MultiAxis group.s.
RSI::RapidCode::MultiAxis::AddressDataTypeGet
RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type)
Get the data type for an address of the MultiAxis.
RSI::RapidCode::MultiAxis::MoveRelative
void MoveRelative(const double *const relativePosition, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
Command a relative point-to-point S-Curve motion.
RSI::RapidCode::MultiAxis::VectorDecelerationSet
void VectorDecelerationSet(double deceleration)
Set the vector deceleration.
RSI::RapidCode::MultiAxis::MoveVector
void MoveVector(const double *const position)
Point-to-point vector move.
RSI::RapidCode::MultiAxis::PathPlanTypeSet
void PathPlanTypeSet(RSIPathPlanType type)
Set the path motion planning type.
RSI::RapidCode::MultiAxis::MoveVectorRelative
void MoveVectorRelative(const double *const relativePosition)
RSI::RapidCode::MultiAxis::MoveSCurve
void MoveSCurve(const double *const position, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
Point-to-point S-Curve Move.
RSI::RapidCode::MultiAxis::PathLineAdd
void PathLineAdd(const double *const position)
Add a line segment to the path.
RSI::RapidCode::MultiAxis::AxesAdd
void AxesAdd(Axis **axes, int32_t axisCount)
RSI::RapidCode::MultiAxis::PathTimeSliceSet
void PathTimeSliceSet(double seconds)
Set the time slice for the Path.
RSI::RapidCode::MultiAxis::PathBlendSet
void PathBlendSet(bool blend)
Set the blending attribute.
RSI::RapidCode::MultiAxis::VectorAccelerationSet
void VectorAccelerationSet(double acceleration)
Set the vector acceleration.
RSI::RapidCode::MultiAxis::MoveVelocity
void MoveVelocity(const double *const velocity, const double *const accel)
Velocity move.
RSI::RapidCode::MultiAxis::MotionElementIdExecutingGet
uint16_t MotionElementIdExecutingGet()
RSI::RapidCode::MultiAxis::VectorJerkPercentSet
void VectorJerkPercentSet(double jerkPercent)
Set the jerk percent for a vector move.
RSI::RapidCode::MultiAxis::PathRatioGet
double PathRatioGet(int32_t index)
RSI::RapidCode::MultiAxis::PathListEnd
void PathListEnd()
End a line and arc point list for path motion.
RSI::RapidCode::MultiAxis::AxisAdd
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
RSI::RapidCode::MultiAxis::PathTimeSliceGet
double PathTimeSliceGet()
Set the time slice for the Path.
RSI::RapidCode::MultiAxis::VectorVelocitySet
void VectorVelocitySet(double velocity)
Set the vector velocity.
RSI::RapidCode::MultiAxis
Represents multiple axes of motion control, allows you to map two or more Axis objects together for e...
Definition rsi.h:10842
RSI::RapidCode::MultiAxis::AxisMapCountGet
int32_t AxisMapCountGet()
Get the number of Axis objects in the Axis map.
RSI::RapidCode::NetworkNode::StatusGet
Status StatusGet()
Get the node's status details.
RSI::RapidCode::NetworkNode::DigitalOutSet
void DigitalOutSet(int32_t digitalOutNumber, bool state)
Set the state of a digital output.
RSI::RapidCode::NetworkNode::ServiceChannelWrite
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds=SDOTimeoutMillisecondsDefault)
Write a number in the SDO.
RSI::RapidCode::NetworkNode::DigitalInGet
bool DigitalInGet(int32_t digitalInNumber)
Get the state of a digital input.
RSI::RapidCode::NetworkNode::DigitalOutAddressGet
uint64_t DigitalOutAddressGet(int32_t bitNumber)
Get the controller memory address for a Node's digital output.
RSI::RapidCode::NetworkNode::ServiceChannelReadString
const char *const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds=SDOTimeoutMillisecondsDefault)
Read a string from the SDO.
RSI::RapidCode::NetworkNode::ServiceChannelReadBytes
RapidVector< uint8_t > ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds)
Read a number of bytes from the SDO.
RSI::RapidCode::NetworkNode::AnalogInAddressGet
uint64_t AnalogInAddressGet(int32_t channel)
Get the 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::ServiceChannelRead
int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds=SDOTimeoutMillisecondsDefault)
Read a 32-bit integer value from the SDO.
RSI::RapidCode::NetworkNode::DigitalInAddressGet
uint64_t DigitalInAddressGet(int32_t bitNumber)
Get the 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::NameGet
const char *const NameGet()
Get the Node's Short Name that appears on NodeInfo.xml.
RSI::RapidCode::NetworkNode::ProductNameGet
const char *const ProductNameGet()
Get the Node's Product/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::StatusClear
void StatusClear()
Clear the node's status values.
RSI::RapidCode::NetworkNode::AnalogOutSet
void AnalogOutSet(int32_t analogChannel, int32_t analogValue)
Set the value of an analog output.
RSI::RapidCode::NetworkNode::AnalogOutAddressGet
uint64_t AnalogOutAddressGet(int32_t channel)
Get the 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:3922
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:11866
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::MotionHoldUserMaskSet
void MotionHoldUserMaskSet(int32_t holdMask)
Sets the Motion Hold User bit mask.
RSI::RapidCode::RapidCodeMotion::EStopTimeGet
double EStopTimeGet()
Get E-Stop Event deceleration time.
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskOnGet
bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn)
Check to see if a particular motion attribute mask is turned on.
RSI::RapidCode::RapidCodeMotion::Map
void Map()
Writes the axis mapping relationship to the Controller.
RSI::RapidCode::RapidCodeMotion::StreamingOutputAdd
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address)
RSI::RapidCode::RapidCodeMotion::AmpEnableGet
bool AmpEnableGet()
Get the enabled state of all amplifiers.
RSI::RapidCode::RapidCodeMotion::MovePVTF
void MovePVTF(const double *const position, const double *const velocity, const double *const time, const double *const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
Move commanded by list of positions, velocities, times, and feedforward values.
RSI::RapidCode::RapidCodeMotion::FeedRateGet
double FeedRateGet()
Get the axis feed rate.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserPatternSet
void MotionHoldUserPatternSet(int32_t pattern)
Sets the Motion Hold User pattern bit mask.
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskOffSet
void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff)
Turn off a particular motion attribute mask.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserAddressGet
uint64_t MotionHoldUserAddressGet()
Gets the Motion Hold User Address.
RSI::RapidCode::RapidCodeMotion::MotionHoldTypeSet
void MotionHoldTypeSet(RSIMotionHoldType type)
Set the motion hold type.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateNumberGet
int32_t MotionHoldGateNumberGet()
Returns the Motion Hold Gate number that the axis or multiaxis is set to.
RSI::RapidCode::RapidCodeMotion::TriggeredModify
void TriggeredModify()
Modify the currently executing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE sta...
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisNumberSet
void MotionHoldAxisNumberSet(int32_t number)
Sets the Axis number for Motion Hold.
RSI::RapidCode::RapidCodeMotion::SourceNameGet
const char *const SourceNameGet(RSISource source)
Get the name (string) of the source of an error for an Axis or MultiAxis.
RSI::RapidCode::RapidCodeMotion::MotionIdSet
void MotionIdSet(uint16_t id)
Set the Motion identifier.
RSI::RapidCode::RapidCodeMotion::StatusBitGet
bool StatusBitGet(RSIEventType bitMask)
Return the state of a status bit.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserMaskGet
int32_t MotionHoldUserMaskGet()
Gets the Motion Hold User Mask.
RSI::RapidCode::RapidCodeMotion::EStopTimeSet
void EStopTimeSet(double seconds)
Set the deceleration time for an E-Stop Event.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserPatternGet
int32_t MotionHoldUserPatternGet()
Gets the Motion Hold user bit pattern.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateNumberSet
void MotionHoldGateNumberSet(int32_t gateNumber)
Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate.
RSI::RapidCode::RapidCodeMotion::MotionHoldTypeGet
RSIMotionHoldType MotionHoldTypeGet()
Get the motion hold attribute type.
RSI::RapidCode::RapidCodeMotion::MotionDoneWait
int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds=WaitForever)
Waits for a move to complete.
RSI::RapidCode::RapidCodeMotion::StateGet
RSIState StateGet()
Get the Axis or MultiAxis state.
RSI::RapidCode::RapidCodeMotion::MotionHoldUserAddressSet
void MotionHoldUserAddressSet(uint64_t address)
Sets the Motion Hold User Address.
RSI::RapidCode::RapidCodeMotion::Resume
void Resume()
Resume an axis.
RSI::RapidCode::RapidCodeMotion::StreamingOutputsClear
void StreamingOutputsClear()
Clear the contents of the Streaming Output List.
RSI::RapidCode::RapidCodeMotion::StatusBitsGet
uint64_t StatusBitsGet()
Return all the RMP firmware status bits as a 64-bit unsigned bitmask.
RSI::RapidCode::RapidCodeMotion::MotionHoldGateSet
void MotionHoldGateSet(bool hold)
Set the Motion Hold Gate.
RSI::RapidCode::RapidCodeMotion::StreamingOutputsEnableSet
void StreamingOutputsEnableSet(bool enable)
Sets whether Streaming Output is enabled (true) or disabled (false).
RSI::RapidCode::RapidCodeMotion::AmpEnableSet
int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds=AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState=false)
Enable all amplifiers.
RSI::RapidCode::RapidCodeMotion::FeedRateSet
void FeedRateSet(double rate)
Set the feed rate for an Axis.
RSI::RapidCode::RapidCodeMotion::MotionHoldTimeoutGet
double MotionHoldTimeoutGet()
Get the motion hold timeout value.
RSI::RapidCode::RapidCodeMotion::MotionHoldTimeoutSet
void MotionHoldTimeoutSet(double seconds)
Set the motion hold timeout value.
RSI::RapidCode::RapidCodeMotion::MotionFinalVelocitySet
void MotionFinalVelocitySet(double finalVelocity)
Sets final velocity value in UserUnits (!!! only used if FINAL_VEL motion attribute is used !...
RSI::RapidCode::RapidCodeMotion::NumberGet
int32_t NumberGet()
Get the axis number.
RSI::RapidCode::RapidCodeMotion::SourceGet
RSISource SourceGet()
Get the source of an error state for an Axis or MultiAxis.
RSI::RapidCode::RapidCodeMotion::MotionIdGet
uint16_t MotionIdGet()
Get the motion identifier.
RSI::RapidCode::RapidCodeMotion::EStopModify
void EStopModify()
E-Stop with a deceleration rate.
RSI::RapidCode::RapidCodeMotion::MovePVT
void MovePVT(const double *const position, const double *const velocity, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
Move commanded by list of positions, velocities, and times.
RSI::RapidCode::RapidCodeMotion::Unmap
void Unmap()
Removes the axis mapping relationship of the MultiAxis.
RSI::RapidCode::RapidCodeMotion::MovePT
void MovePT(RSIMotionType type, const double *const position, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
A move commanded by a list of position and time points.
RSI::RapidCode::RapidCodeMotion::MovePTF
void MovePTF(const double *const position, const double *const time, const double *const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
A move commanded by a list of position, time, and feedforward points.
RSI::RapidCode::RapidCodeMotion::IsMapped
bool IsMapped()
Check to see if the axis mapping is active on the firmware.
RSI::RapidCode::RapidCodeMotion::MotionDoneGet
bool MotionDoneGet()
Check to see if motion is done and settled.
RSI::RapidCode::RapidCodeMotion::StopTimeGet
double StopTimeGet()
Get Stop Event deceleration time.
RSI::RapidCode::RapidCodeMotion::AxisCountGet
int32_t AxisCountGet()
Get the axis count.
RSI::RapidCode::RapidCodeMotion::EStopAbort
void EStopAbort()
E-Stop, then abort an axis.
RSI::RapidCode::RapidCodeMotion::MotionAttributeMaskOnSet
void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn)
Turn on a particular motion attribute mask.
RSI::RapidCode::RapidCodeMotion::MotionFinalVelocityGet
double MotionFinalVelocityGet()
Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!...
RSI::RapidCode::RapidCodeMotion::MovePVAJT
void MovePVAJT(const double *const position, const double *const velocity, const double *const acceleration, const double *const jerk, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
RSI::RapidCode::RapidCodeMotion::InterruptEnableSet
void InterruptEnableSet(bool enable)
Control interrupts for this class.
RSI::RapidCode::RapidCodeMotion
The RapidCodeMotion interface is implemented by Axis and MultiAxis .
Definition rsi.h:4389
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:4393
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:4405
RSI::RapidCode::RapidCodeMotion::MotionHoldAxisLogicSet
void MotionHoldAxisLogicSet(RSIUserLimitLogic logic)
Set the logic when holding for Axis ActualPosition.
RSI::RapidCode::RapidCodeMotion::WaitForever
static constexpr int32_t WaitForever
Use this value to wait indefinitely in methods which accept a waitTimeoutMilliseconds parameter.
Definition rsi.h:4396
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:12459
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:12560
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:11942
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1166
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1458
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1432
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1438
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:301
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1426
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:593
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1153
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:545
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1256
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1146
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:573
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:1326
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:973
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1045
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:664
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:651
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1272
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1122
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:439
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:295
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1262
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1318
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:599
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:924
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1067
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:502
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1175
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:638
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1419
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1364
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1102
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:284
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1306
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:397
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1332
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:631
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1235
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1140
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:682
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:1021
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:896
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1160
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:918
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1338
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1061
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1359
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network PDO index types for configuring axis input/output mappings.
Definition rsienums.h:1397
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:585
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1196
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:886
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1225
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:3883
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3876
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional).
Definition rsi.h:3881
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:3882
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:3877
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:3878
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:3879
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:3880
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3884
RSI::RapidCode::MotionController::NetworkStatus
NetworkStatus structure for EtherCAT network health monitoring.
Definition rsi.h:2193
RSI::RapidCode::MotionController::NetworkStatus::MissedCyclicFrameCount
uint32_t MissedCyclicFrameCount
Cumulative count of missed cyclic EtherCAT frames since network startup. Indicates communication reli...
Definition rsi.h:2196
RSI::RapidCode::MotionController::NetworkStatus::AlStatus
uint32_t AlStatus
Logical OR of AL Status registers (0x0130) from all nodes. A value of 8 indicates all nodes are Opera...
Definition rsi.h:2195
RSI::RapidCode::MotionController::NetworkStatus::CyclicFramePeriodUs
uint32_t CyclicFramePeriodUs
Most recent cyclic frame period in microseconds. Should match the configured sample rate.
Definition rsi.h:2197
RSI::RapidCode::MotionController::NetworkStatus::SynchronizationErrorNs
int32_t SynchronizationErrorNs
Distributed Clock synchronization error in nanoseconds. Updated approximately every 16 samples....
Definition rsi.h:2198
RSI::RapidCode::MotionController::NetworkStatus::ActiveNodeCount
uint32_t ActiveNodeCount
Number of nodes actively responding on the network. Compare against expected node count to detect dro...
Definition rsi.h:2194
RSI::RapidCode::NetworkNode::Status
Status structure for individual EtherCAT node diagnostics.
Definition rsi.h:4356
RSI::RapidCode::NetworkNode::Status::AlStatus
uint32_t AlStatus
EtherCAT AL Status register (0x0130) value. This is a snapshot value primarily useful for detecting u...
Definition rsi.h:4357
RSI::RapidCode::NetworkNode::Status::CoeEmergencyMessageNetworkCounter
int32_t CoeEmergencyMessageNetworkCounter
Network counter value when the current CoeEmergencyMessage was received. Use to determine if the emer...
Definition rsi.h:4360
RSI::RapidCode::NetworkNode::Status::CoeEmergencyMessage
uint64_t CoeEmergencyMessage
CANopen over EtherCAT (CoE) emergency message. 8-byte value containing error code and additional data...
Definition rsi.h:4359
RSI::RapidCode::NetworkNode::Status::AlStatusCode
uint32_t AlStatusCode
EtherCAT AL Status Code register value. This is a snapshot value captured when the node reports an er...
Definition rsi.h:4358
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