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rsienums.h
1
2#ifndef _RSI_CONSTANTS_H
3#define _RSI_CONSTANTS_H
4#include "rsiconstants.h"
5
7namespace RSI
8{
9
11namespace RapidCode
12{
15
17enum class RSIErrorMessage {
18 RSIAxisMessageAXIS_INVALID = RSICONSTANTAxisMessageAXIS_INVALID,
19 RSIAxisMessageCOMMAND_NOT_SET = RSICONSTANTAxisMessageCOMMAND_NOT_SET,
20 RSIAxisMessageNOT_MAPPED_TO_MS = RSICONSTANTAxisMessageNOT_MAPPED_TO_MS,
21 RSICaptureMessageMOTOR_INVALID = RSICONSTANTCaptureMessageMOTOR_INVALID,
22 RSICaptureMessageCAPTURE_TYPE_INVALID = RSICONSTANTCaptureMessageCAPTURE_TYPE_INVALID,
23 RSICaptureMessageCAPTURE_INVALID = RSICONSTANTCaptureMessageCAPTURE_INVALID,
24 RSICaptureMessageFEEDBACK_INVALID = RSICONSTANTCaptureMessageFEEDBACK_INVALID,
25 RSICaptureMessageINVALID_EDGE = RSICONSTANTCaptureMessageINVALID_EDGE,
26 RSICaptureMessageCAPTURE_NOT_ENABLED = RSICONSTANTCaptureMessageCAPTURE_NOT_ENABLED,
27 RSICaptureMessageCAPTURE_STATE_INVALID = RSICONSTANTCaptureMessageCAPTURE_STATE_INVALID,
28 RSICaptureMessageUNSUPPORTED_PRIMARY = RSICONSTANTCaptureMessageUNSUPPORTED_PRIMARY,
29 RSICaptureMessageUNSUPPORTED_SECONDARY = RSICONSTANTCaptureMessageUNSUPPORTED_SECONDARY,
30 RSICaptureMessageCAPTURE_ARMED = RSICONSTANTCaptureMessageCAPTURE_ARMED,
31 RSICommandMessageTYPE_INVALID = RSICONSTANTCommandMessageTYPE_INVALID,
32 RSICompensatorMessageCOMPENSATOR_INVALID = RSICONSTANTCompensatorMessageCOMPENSATOR_INVALID,
33 RSICompensatorMessageNOT_CONFIGURED = RSICONSTANTCompensatorMessageNOT_CONFIGURED,
34 RSICompensatorMessageNOT_ENABLED = RSICONSTANTCompensatorMessageNOT_ENABLED,
35 RSICompensatorMessageAXIS_NOT_ENABLED = RSICONSTANTCompensatorMessageAXIS_NOT_ENABLED,
36 RSICompensatorMessageTABLE_SIZE_ERROR = RSICONSTANTCompensatorMessageTABLE_SIZE_ERROR,
37 RSICompensatorMessagePOSITION_DELTA_INVALID = RSICONSTANTCompensatorMessagePOSITION_DELTA_INVALID,
38 RSICompensatorMessageDIMENSION_NOT_SUPPORTED = RSICONSTANTCompensatorMessageDIMENSION_NOT_SUPPORTED,
39 RSIControlMessageLIBRARY_VERSION = RSICONSTANTControlMessageLIBRARY_VERSION,
40 RSIControlMessageCONTROL_INVALID = RSICONSTANTControlMessageCONTROL_INVALID,
41 RSIControlMessageCONTROL_NUMBER_INVALID = RSICONSTANTControlMessageCONTROL_NUMBER_INVALID,
42 RSIControlMessageTYPE_INVALID = RSICONSTANTControlMessageTYPE_INVALID,
43 RSIControlMessageINTERRUPTS_DISABLED = RSICONSTANTControlMessageINTERRUPTS_DISABLED,
44 RSIControlMessageINTERNAL_MEMORY_OVERFLOW = RSICONSTANTControlMessageINTERNAL_MEMORY_OVERFLOW,
45 RSIControlMessageEXTERNAL_MEMORY_OVERFLOW = RSICONSTANTControlMessageEXTERNAL_MEMORY_OVERFLOW,
46 RSIControlMessageBACKGROUND_STARVATION = RSICONSTANTControlMessageBACKGROUND_STARVATION,
47 RSIControlMessageMOTOR_COUNT_INVALID = RSICONSTANTControlMessageMOTOR_COUNT_INVALID,
48 RSIControlMessageFILTER_COUNT_INVALID = RSICONSTANTControlMessageFILTER_COUNT_INVALID,
49 RSIControlMessageAXIS_COUNT_INVALID = RSICONSTANTControlMessageAXIS_COUNT_INVALID,
50 RSIControlMessageAXIS_FRAME_COUNT_INVALID = RSICONSTANTControlMessageAXIS_FRAME_COUNT_INVALID,
51 RSIControlMessageMOTION_COUNT_INVALID = RSICONSTANTControlMessageMOTION_COUNT_INVALID,
52 RSIControlMessageMATH_BLOCK_COUNT_INVALID = RSICONSTANTControlMessageMATH_BLOCK_COUNT_INVALID,
53 RSIControlMessageSEQUENCE_COUNT_INVALID = RSICONSTANTControlMessageSEQUENCE_COUNT_INVALID,
54 RSIControlMessagePRE_FILTER_DELAY_COUNT_INVALID = RSICONSTANTControlMessagePRE_FILTER_DELAY_COUNT_INVALID,
55 RSIControlMessageRECORDER_COUNT_INVALID = RSICONSTANTControlMessageRECORDER_COUNT_INVALID,
56 RSIControlMessageLIMIT_BLOCK_COUNT_INVALID = RSICONSTANTControlMessageLIMIT_BLOCK_COUNT_INVALID,
57 RSIControlMessageCOMPENSATOR_COUNT_INVALID = RSICONSTANTControlMessageCOMPENSATOR_COUNT_INVALID,
58 RSIControlMessageCAPTURE_COUNT_INVALID = RSICONSTANTControlMessageCAPTURE_COUNT_INVALID,
59 RSIControlMessageTX_TIME_INVALID = RSICONSTANTControlMessageTX_TIME_INVALID,
60 RSIControlMessageSAMPLE_RATE_TO_LOW = RSICONSTANTControlMessageSAMPLE_RATE_TO_LOW,
61 RSIControlMessageSAMPLE_RATE_TO_HIGH = RSICONSTANTControlMessageSAMPLE_RATE_TO_HIGH,
62 RSIControlMessageAXIS_RUNNING = RSICONSTANTControlMessageAXIS_RUNNING,
63 RSIControlMessageRECORDER_RUNNING = RSICONSTANTControlMessageRECORDER_RUNNING,
64 RSIControlMessagePACK_ALIGNMENT = RSICONSTANTControlMessagePACK_ALIGNMENT,
65 RSIControlMessageFIRMWARE_INVALID = RSICONSTANTControlMessageFIRMWARE_INVALID,
66 RSIControlMessageFIRMWARE_VERSION_NONE = RSICONSTANTControlMessageFIRMWARE_VERSION_NONE,
67 RSIControlMessageFIRMWARE_VERSION = RSICONSTANTControlMessageFIRMWARE_VERSION,
68 RSIControlMessageNO_FPGA_SOCKET = RSICONSTANTControlMessageNO_FPGA_SOCKET,
69 RSIControlMessageSYNQNET_STATE = RSICONSTANTControlMessageSYNQNET_STATE,
70 RSIControlMessageIO_BIT_INVALID = RSICONSTANTControlMessageIO_BIT_INVALID,
71 RSIControlMessageOBJECT_INDEX_INVALID = RSICONSTANTControlMessageOBJECT_INDEX_INVALID,
72 RSIControlMessageOBJECT_INVALID = RSICONSTANTControlMessageOBJECT_INVALID,
73 RSIControlMessageFLASH_SYNQNET_STATE_INVALID = RSICONSTANTControlMessageFLASH_SYNQNET_STATE_INVALID,
74 RSIControlMessageFLASH_INVALID = RSICONSTANTControlMessageFLASH_INVALID,
75 RSIControlMessageFLASH_VERIFY_ERROR = RSICONSTANTControlMessageFLASH_VERIFY_ERROR,
76 RSIControlMessageFLASH_WRITE_ERROR = RSICONSTANTControlMessageFLASH_WRITE_ERROR,
77 RSIControlMessageFILE_INACCESSIBLE = RSICONSTANTControlMessageFILE_INACCESSIBLE,
78 RSIControlMessageBUFFER_TOO_SMALL = RSICONSTANTControlMessageBUFFER_TOO_SMALL,
79 RSIControlMessageEVENTS_LOST = RSICONSTANTControlMessageEVENTS_LOST,
80 RSIElementMessageELEMENT_INVALID = RSICONSTANTElementMessageELEMENT_INVALID,
81 RSIEventMessageEVENT_INVALID = RSICONSTANTEventMessageEVENT_INVALID,
82 RSIFilterMessageFILTER_INVALID = RSICONSTANTFilterMessageFILTER_INVALID,
83 RSIFilterMessageINVALID_ALGORITHM = RSICONSTANTFilterMessageINVALID_ALGORITHM,
84 RSIFilterMessageINVALID_DRATE = RSICONSTANTFilterMessageINVALID_DRATE,
85 RSIFilterMessageCONVERSION_DIV_BY_0 = RSICONSTANTFilterMessageCONVERSION_DIV_BY_0,
86 RSIFilterMessageSECTION_NOT_ENABLED = RSICONSTANTFilterMessageSECTION_NOT_ENABLED,
87 RSIFilterMessageINVALID_FILTER_FORM = RSICONSTANTFilterMessageINVALID_FILTER_FORM,
88 RSIFilterMessageINVALID_SMOOTHING = RSICONSTANTFilterMessageINVALID_SMOOTHING,
89 RSIGeometricPathMessageILLEGAL_DIMENSION = RSICONSTANTGeometricPathMessageILLEGAL_DIMENSION,
90 RSIGeometricPathMessageILLEGAL_ELEMENT = RSICONSTANTGeometricPathMessageILLEGAL_ELEMENT,
91 RSIGeometricPathMessageARC_ILLEGAL_DIMENSION = RSICONSTANTGeometricPathMessageARC_ILLEGAL_DIMENSION,
92 RSIGeometricPathMessageILLEGAL_RADIUS = RSICONSTANTGeometricPathMessageILLEGAL_RADIUS,
93 RSIGeometricPathMessagePATH_TOO_LONG = RSICONSTANTGeometricPathMessagePATH_TOO_LONG,
94 RSIGeometricPathMessageUNSUPPORTED_TYPE = RSICONSTANTGeometricPathMessageUNSUPPORTED_TYPE,
95 RSIGeometricPathMessageILLEGAL_VELOCITY = RSICONSTANTGeometricPathMessageILLEGAL_VELOCITY,
96 RSIGeometricPathMessageILLEGAL_ACCELERATION = RSICONSTANTGeometricPathMessageILLEGAL_ACCELERATION,
97 RSIGeometricPathMessageILLEGAL_TIMESLICE = RSICONSTANTGeometricPathMessageILLEGAL_TIMESLICE,
98 RSILicenseMessageNOT_VALID = RSICONSTANTLicenseMessageNOT_VALID,
99 RSILicenseMessageNOFEATURE = RSICONSTANTLicenseMessageNOFEATURE,
100 RSILicenseMessageNOAXIS = RSICONSTANTLicenseMessageNOAXIS,
101 RSILicenseMessageCONTROL_TYPE_FILE = RSICONSTANTLicenseMessageCONTROL_TYPE_FILE,
102 RSILicenseMessageEXPIRED = RSICONSTANTLicenseMessageEXPIRED,
103 RSILicenseMessageUNLICENSED = RSICONSTANTLicenseMessageUNLICENSED,
104 RSILicenseMessageNO_APP_LICENSE = RSICONSTANTLicenseMessageNO_APP_LICENSE,
105 RSIListMessageELEMENT_NOT_FOUND = RSICONSTANTListMessageELEMENT_NOT_FOUND,
106 RSIListMessageELEMENT_INVALID = RSICONSTANTListMessageELEMENT_INVALID,
107 RSIMessageOK = RSICONSTANTMessageOK,
108 RSIMessageARG_INVALID = RSICONSTANTMessageARG_INVALID,
109 RSIMessagePARAM_INVALID = RSICONSTANTMessagePARAM_INVALID,
110 RSIMessageHANDLE_INVALID = RSICONSTANTMessageHANDLE_INVALID,
111 RSIMessageNO_MEMORY = RSICONSTANTMessageNO_MEMORY,
112 RSIMessageOBJECT_FREED = RSICONSTANTMessageOBJECT_FREED,
113 RSIMessageOBJECT_NOT_ENABLED = RSICONSTANTMessageOBJECT_NOT_ENABLED,
114 RSIMessageOBJECT_NOT_FOUND = RSICONSTANTMessageOBJECT_NOT_FOUND,
115 RSIMessageOBJECT_ON_LIST = RSICONSTANTMessageOBJECT_ON_LIST,
116 RSIMessageOBJECT_IN_USE = RSICONSTANTMessageOBJECT_IN_USE,
117 RSIMessageTIMEOUT = RSICONSTANTMessageTIMEOUT,
118 RSIMessageUNSUPPORTED = RSICONSTANTMessageUNSUPPORTED,
119 RSIMessageFATAL_ERROR = RSICONSTANTMessageFATAL_ERROR,
120 RSIMessageFILE_CLOSE_ERROR = RSICONSTANTMessageFILE_CLOSE_ERROR,
121 RSIMessageFILE_OPEN_ERROR = RSICONSTANTMessageFILE_OPEN_ERROR,
122 RSIMessageFILE_READ_ERROR = RSICONSTANTMessageFILE_READ_ERROR,
123 RSIMessageFILE_WRITE_ERROR = RSICONSTANTMessageFILE_WRITE_ERROR,
124 RSIMessageFILE_MISMATCH = RSICONSTANTMessageFILE_MISMATCH,
125 RSIMessageASSERT_FAILURE = RSICONSTANTMessageASSERT_FAILURE,
126 RSIClientMessageMETHOD_INVALID = RSICONSTANTClientMessageMETHOD_INVALID,
127 RSIClientMessageHEADER_INVALID = RSICONSTANTClientMessageHEADER_INVALID,
128 RSIClientMessageRSICONSTANT_INCOMPATIBLE = RSICONSTANTClientMessageRSICONSTANT_INCOMPATIBLE,
129 RSIClientMessageSERVER_INCOMPATIBLE = RSICONSTANTClientMessageSERVER_INCOMPATIBLE,
130 RSIClientMessageSERVER_INACCESSIBLE = RSICONSTANTClientMessageSERVER_INACCESSIBLE,
131 RSIClientMessageCOUNT = RSICONSTANTClientMessageCOUNT,
132 RSIMotionMessageMOTION_INVALID = RSICONSTANTMotionMessageMOTION_INVALID,
133 RSIMotionMessageAXIS_COUNT = RSICONSTANTMotionMessageAXIS_COUNT,
134 RSIMotionMessageAXIS_FRAME_COUNT = RSICONSTANTMotionMessageAXIS_FRAME_COUNT,
135 RSIMotionMessageTYPE_INVALID = RSICONSTANTMotionMessageTYPE_INVALID,
136 RSIMotionMessageATTRIBUTE_INVALID = RSICONSTANTMotionMessageATTRIBUTE_INVALID,
137 RSIMotionMessageIDLE = RSICONSTANTMotionMessageIDLE,
138 RSIMotionMessageMOVING = RSICONSTANTMotionMessageMOVING,
139 RSIMotionMessageSTOPPING = RSICONSTANTMotionMessageSTOPPING,
140 RSIMotionMessageSTOPPED = RSICONSTANTMotionMessageSTOPPED,
141 RSIMotionMessageSTOPPING_ERROR = RSICONSTANTMotionMessageSTOPPING_ERROR,
142 RSIMotionMessageERROR = RSICONSTANTMotionMessageERROR,
143 RSIMotionMessageAUTO_START = RSICONSTANTMotionMessageAUTO_START,
144 RSIMotionMessageILLEGAL_DELAY = RSICONSTANTMotionMessageILLEGAL_DELAY,
145 RSIMotionMessagePROFILE_ERROR = RSICONSTANTMotionMessagePROFILE_ERROR,
146 RSIMotionMessagePROFILE_NOT_SUPPORTED = RSICONSTANTMotionMessagePROFILE_NOT_SUPPORTED,
147 RSIMotionMessagePATH_ERROR = RSICONSTANTMotionMessagePATH_ERROR,
148 RSIMotionMessageFRAMES_LOW = RSICONSTANTMotionMessageFRAMES_LOW,
149 RSIMotionMessageFRAMES_EMPTY = RSICONSTANTMotionMessageFRAMES_EMPTY,
150 RSIMotionMessageFRAME_BUFFER_OVERRUN = RSICONSTANTMotionMessageFRAME_BUFFER_OVERRUN,
151 RSIMotionMessageRESERVED0 = RSICONSTANTMotionMessageRESERVED0,
152 RSIMotionMessageRESERVED1 = RSICONSTANTMotionMessageRESERVED1,
153 RSIMotionMessageRESERVED2 = RSICONSTANTMotionMessageRESERVED2,
154 RSIMotionMessageNO_AXES_MAPPED = RSICONSTANTMotionMessageNO_AXES_MAPPED,
155 RSIMotionMessageBAD_PATH_DATA = RSICONSTANTMotionMessageBAD_PATH_DATA,
156 RSIMotionMessageAXIS_MOVING = RSICONSTANTMotionMessageAXIS_MOVING,
157 RSIMotionMessageAXIS_MAP_MISMATCH = RSICONSTANTMotionMessageAXIS_MAP_MISMATCH,
158 RSIMotorMessageMOTOR_INVALID = RSICONSTANTMotorMessageMOTOR_INVALID,
159 RSIMotorMessageTYPE_INVALID = RSICONSTANTMotorMessageTYPE_INVALID,
160 RSIMotorMessageSTEPPER_NA = RSICONSTANTMotorMessageSTEPPER_NA,
161 RSIMotorMessageMOTOR_NOT_ENABLED = RSICONSTANTMotorMessageMOTOR_NOT_ENABLED,
162 RSIMotorMessageSECONDARY_FEEDBACK_NA = RSICONSTANTMotorMessageSECONDARY_FEEDBACK_NA,
163 RSIMotorMessageHARDWARE_NOT_FOUND = RSICONSTANTMotorMessageHARDWARE_NOT_FOUND,
164 RSIMotorMessageSTEPPER_INVALID = RSICONSTANTMotorMessageSTEPPER_INVALID,
165 RSIMotorMessageDISABLE_ACTION_INVALID = RSICONSTANTMotorMessageDISABLE_ACTION_INVALID,
166 RSIMotorMessagePULSE_WIDTH_INVALID = RSICONSTANTMotorMessagePULSE_WIDTH_INVALID,
167 RSIMotorMessageFEEDBACK_REVERSAL_NA = RSICONSTANTMotorMessageFEEDBACK_REVERSAL_NA,
168 RSIMotorMessagePHASE_FINDING_FAILED = RSICONSTANTMotorMessagePHASE_FINDING_FAILED,
169 RSIMotorMessageDEMAND_MODE_UNSUPPORTED = RSICONSTANTMotorMessageDEMAND_MODE_UNSUPPORTED,
170 RSIMotorMessageDEMAND_MODE_NOT_SET = RSICONSTANTMotorMessageDEMAND_MODE_NOT_SET,
171 RSIMotorMessagePOSITION_FEEDBACK_OFFSET_UNSUPPORTED = RSICONSTANTMotorMessagePOSITION_FEEDBACK_OFFSET_UNSUPPORTED,
172 RSIMotorMessagePOSITION_FEEDBACK_OFFSET_SET_FAILED = RSICONSTANTMotorMessagePOSITION_FEEDBACK_OFFSET_SET_FAILED,
173 RSIMotorMessagePOSITION_FEEDBACK_OFFSET_UNINITIALIZED = RSICONSTANTMotorMessagePOSITION_FEEDBACK_OFFSET_UNINITIALIZED,
174 RSIMapMessageNAME_INVALID = RSICONSTANTMapMessageNAME_INVALID,
175 RSIMapMessageNAME_NOT_FOUND = RSICONSTANTMapMessageNAME_NOT_FOUND,
176 RSIMapMessageINDEX_INVALID = RSICONSTANTMapMessageINDEX_INVALID,
177 RSIMapMessageFILE_INVALID = RSICONSTANTMapMessageFILE_INVALID,
178 RSIMapMessageSYMBOL_NOT_FOUND = RSICONSTANTMapMessageSYMBOL_NOT_FOUND,
179 RSIMapMessageSYMBOL_INVALID = RSICONSTANTMapMessageSYMBOL_INVALID,
180 RSIThreadMessageTHREAD_NOT_RUNNING = RSICONSTANTThreadMessageTHREAD_NOT_RUNNING,
181 RSIThreadMessageTHREAD_RUNNING = RSICONSTANTThreadMessageTHREAD_RUNNING,
182 RSIThreadMessageTHREAD_NOT_STARTED = RSICONSTANTThreadMessageTHREAD_NOT_STARTED,
183 RSINotifyMessageWAIT_IN_PROGRESS = RSICONSTANTNotifyMessageWAIT_IN_PROGRESS,
184 RSIPacketMessageADDRESS_INVALID = RSICONSTANTPacketMessageADDRESS_INVALID,
185 RSIPacketMessageCOMM_ERROR = RSICONSTANTPacketMessageCOMM_ERROR,
186 RSIPacketMessageCONNECTION_CLOSED = RSICONSTANTPacketMessageCONNECTION_CLOSED,
187 RSIPlatformMessagePLATFORM_INVALID = RSICONSTANTPlatformMessagePLATFORM_INVALID,
188 RSIPlatformMessageDEVICE_INVALID = RSICONSTANTPlatformMessageDEVICE_INVALID,
189 RSIPlatformMessageDEVICE_ERROR = RSICONSTANTPlatformMessageDEVICE_ERROR,
190 RSIPlatformMessageDEVICE_MAP_ERROR = RSICONSTANTPlatformMessageDEVICE_MAP_ERROR,
191 RSIPlatformMessageCOPY64_FAILURE = RSICONSTANTPlatformMessageCOPY64_FAILURE,
192 RSIPlatformMessagePATH_DOES_NOT_EXIST = RSICONSTANTPlatformMessagePATH_DOES_NOT_EXIST,
193 RSIPlatformMessagePATH_IS_NOT_A_DIRECTORY = RSICONSTANTPlatformMessagePATH_IS_NOT_A_DIRECTORY,
194 RSIPlatformMessageINSTALL_VARIABLE_NOT_SET = RSICONSTANTPlatformMessageINSTALL_VARIABLE_NOT_SET,
195 RSIPlatformMessageDRIVER_VERSION_INCOMPATIBLE = RSICONSTANTPlatformMessageDRIVER_VERSION_INCOMPATIBLE,
196 RSIPlatformMessageFILE_TYPE_INVALID = RSICONSTANTPlatformMessageFILE_TYPE_INVALID,
197 RSIPlatformMessageFILE_VERSION = RSICONSTANTPlatformMessageFILE_VERSION,
198 RSIPlatformMessageUSER_IS_NOT_ADMIN = RSICONSTANTPlatformMessageUSER_IS_NOT_ADMIN,
199 RSIPlatformMessageINTIME_VERSION_UNSUPPORTED = RSICONSTANTPlatformMessageINTIME_VERSION_UNSUPPORTED,
200 RSIPlatformMessageINTIME_NODE_DOES_NOT_EXIST = RSICONSTANTPlatformMessageINTIME_NODE_DOES_NOT_EXIST,
201 RSIPlatformMessageINTIME_NOT_STARTED = RSICONSTANTPlatformMessageINTIME_NOT_STARTED,
202 RSIPlatformMessageRMP_NOT_STARTED = RSICONSTANTPlatformMessageRMP_NOT_STARTED,
203 RSIPlatformMessageRSI_LICENSE_NOT_FOUND = RSICONSTANTPlatformMessageRSI_LICENSE_NOT_FOUND,
204 RSIPlatformMessageRSI_LICENSE_INVALID = RSICONSTANTPlatformMessageRSI_LICENSE_INVALID,
205 RSIPlatformMessageRSI_USB_SERIAL_NOT_FOUND = RSICONSTANTPlatformMessageRSI_USB_SERIAL_NOT_FOUND,
206 RSIRecorderMessageSTARTED = RSICONSTANTRecorderMessageSTARTED,
207 RSIRecorderMessageSTOPPED = RSICONSTANTRecorderMessageSTOPPED,
208 RSIRecorderMessageNOT_CONFIGURED = RSICONSTANTRecorderMessageNOT_CONFIGURED,
209 RSIRecorderMessageNO_RECORDERS_AVAIL = RSICONSTANTRecorderMessageNO_RECORDERS_AVAIL,
210 RSIRecorderMessageNOT_ENABLED = RSICONSTANTRecorderMessageNOT_ENABLED,
211 RSIRecorderMessageRUNNING = RSICONSTANTRecorderMessageRUNNING,
212 RSIRecorderMessageRECORD_COUNT_INVALID = RSICONSTANTRecorderMessageRECORD_COUNT_INVALID,
213 RSIRecorderMessageRESERVED = RSICONSTANTRecorderMessageRESERVED,
214 RSIRecorderMessageNOT_RESERVED = RSICONSTANTRecorderMessageNOT_RESERVED,
215 RSIServerMessageMETHOD_INVALID = RSICONSTANTServerMessageMETHOD_INVALID,
216 RSIServerMessageHEADER_INVALID = RSICONSTANTServerMessageHEADER_INVALID,
217 RSIUserLimitMessageUSER_LIMIT_INVALID = RSICONSTANTUserLimitMessageUSER_LIMIT_INVALID,
218 // dropped the SqNode looks like we still use node so moved to RSI errors after RSICONSTANTRsiErrorStart
219 // RSINetworkNodeMessageNODE_FAILURE = RSICONSTANTSqNodeMessageNODE_FAILURE,///< \n
220 RSI_CONTROLLER_INVALID_CONTROLLER_NUMBER = RSICONSTANTRsiErrorStart,
268 RSI_GCODE,
276 // Used SqNode Message error for EtherCat node error. users might have used old enum in code so left naming style intact for now
279
280};
281
285 RSIControllerTypeCLIENT = RSICONSTANTControlTypeCLIENT,
286 RSIControllerTypeFILE = RSICONSTANTControlTypeFILE,
287 RSIControllerTypeSIMULATION = RSICONSTANTControlTypeSIMULATION,
289 RSIControllerTypeUNINITIALIZED = RSICONSTANTControlTypeINVALID,
290
291};
292
296};
297
300enum class RSIHomeMethod {
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393};
394
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484};
485
491
494 RSIFirmwareStatusIN_COARSE_POSITION = RSICONSTANTFWStatusIN_COARSE_POSITION,
495 RSIFirmwareStatusAT_TARGET = RSICONSTANTFWStatusAT_TARGET,
496 RSIFirmwareStatusAT_VELOCITY = RSICONSTANTFWStatusAT_VELOCITY,
497 RSIFirmwareStatusIN_FINE_POSITION = RSICONSTANTFWStatusIN_FINE_POSITION,
498 RSIFirmwareStatusSETTLED = RSICONSTANTFWStatusSETTLED,
499 RSIFirmwareStatusDONE = RSICONSTANTFWStatusDONE,
500 RSIFirmwareStatusMOTION_START = RSICONSTANTFWStatusMOTION_START,
501 RSIFirmwareStatusPS_FAULT = RSICONSTANTFWStatusPS_FAULT,
502 RSIFirmwareStatusMS_FAULT = RSICONSTANTFWStatusMS_FAULT,
503 RSIFirmwareStatusOUT_OF_FRAMES = RSICONSTANTFWStatusOUT_OF_FRAMES,
504 RSIFirmwareStatusFRAME = RSICONSTANTFWStatusFRAME,
505 RSIFirmwareStatusRESET = RSICONSTANTFWStatusRESET,
506 RSIFirmwareStatusRESUME = RSICONSTANTFWStatusRESUME,
507 RSIFirmwareStatusPAUSE = RSICONSTANTFWStatusPAUSE,
508 RSIFirmwareStatusSTOP = RSICONSTANTFWStatusSTOP,
509 RSIFirmwareStatusESTOP = RSICONSTANTFWStatusESTOP,
510 RSIFirmwareStatusESTOP_ABORT = RSICONSTANTFWStatusESTOP_ABORT,
511 RSIFirmwareStatusESTOP_CMD_EQ_ACT = RSICONSTANTFWStatusESTOP_CMD_EQ_ACT,
512 RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP = RSICONSTANTFWStatusTRIGGERED_MODIFY_ESTOP,
513 RSIFirmwareStatusTRIGGERED_MODIFY = RSICONSTANTFWStatusTRIGGERED_MODIFY,
514 RSIFirmwareStatusABORT = RSICONSTANTFWStatusABORT,
515 RSIFirmwareStatusERROR_STATE = RSICONSTANTFWStatusERROR_STATE,
516 RSIFirmwareStatusDISABLED = RSICONSTANTFWStatusDISABLED,
517 RSIFirmwareStatusHOST = RSICONSTANTFWStatusHOST,
518 RSIFirmwareStatusREC_IDLE = RSICONSTANTFWStatusREC_IDLE,
519 RSIFirmwareStatusREC_HIGH = RSICONSTANTFWStatusREC_HIGH,
520 RSIFirmwareStatusREC_FULL = RSICONSTANTFWStatusREC_FULL,
521 RSIFirmwareStatusREC_RUNNING = RSICONSTANTFWStatusREC_RUNNING,
522 RSIFirmwareStatusCAM = RSICONSTANTFWStatusCAM,
523 RSIFirmwareStatusEXTERNAL = RSICONSTANTFWStatusEXTERNAL,
524 RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP_ABORT = RSICONSTANTFWStatusTRIGGERED_MODIFY_ESTOP_ABORT,
525 RSIFirmwareStatusMOTOR_LIMIT = RSICONSTANTFWStatusMOTOR_LIMIT,
526};
527
529enum class RSITrace {
530 RSITraceNONE = RSICONSTANTTraceNONE,
531 RSITraceFUNCTION_ENTRY = RSICONSTANTTraceFUNCTION_ENTRY,
532 RSITraceFUNCTION_RETURN = RSICONSTANTTraceFUNCTION_RETURN,
533 RSITraceMEMORY_ALLOC = RSICONSTANTTraceMEMORY_ALLOC,
534 RSITraceMEMORY_FREE = RSICONSTANTTraceMEMORY_FREE,
535 RSITraceMEMORY_GET = RSICONSTANTTraceMEMORY_GET,
536 RSITraceMEMORY_SET = RSICONSTANTTraceMEMORY_SET,
537 RSITraceVALIDATE = RSICONSTANTTraceVALIDATE,
538 RSITraceLOCK_GIVE = RSICONSTANTTraceLOCK_GIVE,
539 RSITraceLOCK_TAKE = RSICONSTANTTraceLOCK_TAKE,
540 RSITraceEVENT = RSICONSTANTTraceEVENT,
541 RSITraceCUSTOM = RSICONSTANTTraceCUSTOM,
542 RSITraceTIME = RSICONSTANTTraceTIME,
543 RSITraceTRAJECTORY_EXECUTOR = RSICONSTANTTraceTRAJECTORY_EXECUTOR,
544 RSITraceALL = RSICONSTANTTraceALL,
545};
546
549{
550 RSILogicNEVER = RSICONSTANTFWLogicNEVER,
551 RSILogicSINGLE = RSICONSTANTFWLogicSINGLE,
552 RSILogicOR = RSICONSTANTFWLogicOR,
553 RSILogicAND = RSICONSTANTFWLogicAND,
554};
555
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609
611enum class RSINetworkType {
612 RSINetworkTypeSTRING = RSICONSTANTNetworkTypeSTRING,
613 RSINetworkTypeDUAL_STRING = RSICONSTANTNetworkTypeSTRING_DUAL,
614 RSINetworkTypeRING = RSICONSTANTNetworkTypeRING,
615};
616
619 RSIUserLimitTriggerTypeINVALID = RSICONSTANTUserLimitTriggerTypeINVALID,
620 RSIUserLimitTriggerTypeNONE = RSICONSTANTUserLimitTriggerTypeNONE,
621 RSIUserLimitTriggerTypeSINGLE_CONDITION = RSICONSTANTUserLimitTriggerTypeSINGLE_CONDITION,
622 RSIUserLimitTriggerTypeCONDITION_AND = RSICONSTANTUserLimitTriggerTypeCONDITION_AND,
623 RSIUserLimitTriggerTypeCONDITION_OR = RSICONSTANTUserLimitTriggerTypeCONDITION_OR,
624 RSIUserLimitTriggerTypeTIMER = RSICONSTANTUserLimitTriggerTypeTIMER,
625 RSIUserLimitTriggerTypeEND = RSICONSTANTUserLimitTriggerTypeEND,
626 RSIUserLimitTriggerTypeFIRST = RSICONSTANTUserLimitTriggerTypeFIRST,
627 RSIUserLimitTriggerTypeCOUNT = RSICONSTANTUserLimitTriggerTypeCOUNT,
628};
629
632 RSIUserLimitLogicEQ = RSICONSTANTUserLimitLogicEQ,
633 RSIUserLimitLogicNE = RSICONSTANTUserLimitLogicNE,
634 RSIUserLimitLogicGT = RSICONSTANTUserLimitLogicGT,
635 RSIUserLimitLogicGE = RSICONSTANTUserLimitLogicGE,
636 RSIUserLimitLogicLE = RSICONSTANTUserLimitLogicLE,
637 RSIUserLimitLogicLT = RSICONSTANTUserLimitLogicLT,
638 RSIUserLimitLogicABS_EQ = RSICONSTANTUserLimitLogicABS_EQ,
639 RSIUserLimitLogicABS_GT = RSICONSTANTUserLimitLogicABS_GT,
640 RSIUserLimitLogicABS_LE = RSICONSTANTUserLimitLogicABS_LE,
641};
642
644enum class RSIDataType {
645 RSIDataTypeINVALID = RSICONSTANTDataTypeINVALID,
646 RSIDataTypeSHORT = RSICONSTANTDataTypeSHORT,
647 RSIDataTypeUSHORT = RSICONSTANTDataTypeUSHORT,
648 RSIDataTypeINT16 = RSICONSTANTDataTypeSHORT,
649 RSIDataTypeUINT16 = RSICONSTANTDataTypeUSHORT,
650 RSIDataTypeINT32 = RSICONSTANTDataTypeINT32,
651 RSIDataTypeUINT32 = RSICONSTANTDataTypeUINT32,
652 RSIDataTypeFLOAT = RSICONSTANTDataTypeFLOAT,
653 RSIDataTypeDOUBLE = RSICONSTANTDataTypeDOUBLE,
654 RSIDataTypeINT64 = RSICONSTANTDataTypeINT64,
655 RSIDataTypeUINT64 = RSICONSTANTDataTypeUINT64,
656 RSIDataTypeMASK32 = RSICONSTANTDataTypeMASK32,
657 RSIDataTypeMASK64 = RSICONSTANTDataTypeMASK64,
658};
659
661enum class RSINodeType : uint64_t {
662 RSINodeTypeINVALID = RSICONSTANTNodeLibNodeTypeINVALID,
663 RSINodeTypeUNKNOWN = RSICONSTANTNodeLibNodeTypeUNKNOWN,
664
665 RSINodeTypeKOLLMORGEN_AKD = 0x0000006A00414B44,
666 RSINodeTypeKOLLMORGEN_S700 = 0x0000006A03000600,
667 RSINodeTypeKOLLMORGEN_AKT = 0x0000006A04602c22,
668 RSINodeTypeKOLLMORGEN_AKD_C = 0x0000006A414B4331,
669 RSINodeTypeKOLLMORGEN_AKD_N = 0x0000006A414B444E,
670 RSINodeTypeKOLLMORGEN_AKD2G_1AXIS = 0x0000006A11110100,
672 RSINodeTypeKOLLMORGEN_AKD2G_1AXIS_SIL3_ADV = 0x0000006A11110300,
673 RSINodeTypeKOLLMORGEN_AKD2G_2AXIS = 0x0000006A11210100,
675 RSINodeTypeKOLLMORGEN_AKD2G_2AXIS_SIL3_ADV = 0x0000006A11210300,
676 RSINodeTypeBECKHOFF_EL6900 = 0x000000021AF43052,
677 RSINodeTypeBECKHOFF_EL6910 = 0x000000021AFE3052,
678 RSINodeTypeBECKHOFF_EP3184 = 0x000000020C704052,
679 RSINodeTypeBECKHOFF_EP2338 = 0x0000000209224052,
680 RSINodeTypeBECKHOFF_EP7041 = 0x000000021b814052,
681 RSINodeTypeBECKHOFF_EK1100 = 0x00000002044c2c52,
682 RSINodeTypeBECKHOFF_EK1310 = 0x00000002051E2C52,
683 RSINodeTypeBECKHOFF_EL1008 = 0x0000000203f03052,
684 RSINodeTypeBECKHOFF_EL1054 = 0x00000002041E3052,
685 RSINodeTypeBECKHOFF_EL1088 = 0x0000000204403052,
686 RSINodeTypeBECKHOFF_EL2008 = 0x0000000207d83052,
687 RSINodeTypeBECKHOFF_EL2022 = 0x0000000207e63052,
688 RSINodeTypeBECKHOFF_EL2521 = 0x0000000209d93052,
689 RSINodeTypeBECKHOFF_EL2624 = 0x000000020A403052,
690 RSINodeTypeBECKHOFF_EL2634 = 0x000000020A4A3052,
691 RSINodeTypeBECKHOFF_EK1101 = 0x00000002044d2c52,
692 RSINodeTypeBECKHOFF_EL3002 = 0x000000020bba3052,
693 RSINodeTypeBECKHOFF_EL4032 = 0x000000020fc03052,
694 RSINodeTypeBECKHOFF_EL3104 = 0x000000020c203052,
695 RSINodeTypeBECKHOFF_EJ1100 = 0x00000002044C2852,
696 RSINodeTypeBECKHOFF_EJ1889 = 0x0000000207612852,
697 RSINodeTypeBECKHOFF_EJ2889 = 0x000000020B492852,
698 RSINodeTypeBECKHOFF_EJ3004 = 0x000000020BBC2852,
699 RSINodeTypeBECKHOFF_EJ4002 = 0x000000020FA22852,
700 RSINodeTypeBECKHOFF_EP4378 = 0x00000002111a4052,
701 RSINodeTypeBECKHOFF_EPP2338 = 0x0000000264765829,
702 RSINodeTypeBECKHOFF_EPP2316 = 0x00000002647656C9,
703 RSINodeTypeBECKHOFF_EL7041 = 0x000000021b813052,
704 RSINodeTypeBECKHOFF_BK1120 = 0x0000000204602c22,
705 RSINodeTypeBECKHOFF_EL4022 = 0x000000020fb63052,
706 RSINodeTypeAMC_DIGIFLEX = 0x000000BD012D0000,
707 RSINodeTypeAMC_DIGIFLEX2 = 0x000000BD012E0000,
708 RSINodeTypeAMC_DIGIFLEX3 = 0x000000BD012F0000,
709 RSINodeTypeAMC_DIGIFLEX4 = 0x000000BD01300000,
710 RSINodeTypeAMC_FlexPro = 0x000000BD01910000,
711 RSINodeTypeFESTO_CMMP = 0x0000001D502D4153,
712 RSINodeTypeFESTO_CMMT = 0x0000001D007B1a95,
713 RSINodeTypeSERVOTRONIX_FLEXIPRO = 0x000002E100000000,
714 RSINodeTypeMPC_FLEXIPRO = 0x0000067800000000,
715 RSINodeTypePANASONIC_MINASA5 = 0x0000066F511050A1,
716 RSINodeTypePANASONIC_MINASA6 = 0x0000066F60000000,
717 RSINodeTypeDELTA_ASDA = 0x000001DD10305070,
718 RSINodeTypeYASKAWA_SGDV = 0x0000053902200001,
719 RSINodeTypeYASKAWA_SGD7S = 0x0000053902200301,
720 RSINodeTypeYASKAWA_SGDXS = 0x0000053902200901,
721 RSINodeTypeYASKAWA_A1000 = 0x0000053941313030,
722 RSINodeTypeYASKAWA_GA700 = 0x0000053947413730,
723 RSINodeTypeSCHNEIDER_LXM32M = 0x0800005A00016440,
724 RSINodeTypeSCHNEIDER_LXM28E = 0x0800005A00096030,
725 RSINodeTypeSCHNEIDER_ILA = 0x0800005A000022DB,
726 RSINodeTypeBONFIGLIOLI_AGILE = 0x000000D500008000,
727 RSINodeTypeAMP_SS = 0x0000040400000001,
728 RSINodeTypeCOPLEY_XEC = 0x000000AB000011B0,
729 RSINodeTypeCOPLEY_TE2 = 0x000000AB000010F0,
730 RSINodeTypeCOPLEY_RGM = 0x000000AB00002020,
731 RSINodeTypeCOPLEY_XE2 = 0x000000AB000010B0,
732 RSINodeTypeCOPLEY_XEL = 0x000000AB00001000,
733 RSINodeTypeESTUN_PRONET = 0x0000060A00000001,
734 RSINodeTypeOPTOFORCE_SENSOR = 0x000005D426483052,
735 RSINodeTypeCREVIS_NA9286 = 0x0000029D4E419286,
736 RSINodeTypeCREVIS_GN9386 = 0x0000029D474C9086,
737 RSINodeTypeCREVIS_GL9086 = 0x0000029D474E9386,
738 RSINodeTypeESD_ECXDIO8 = 0x0000001700000004,
739 RSINodeTypePROMESS_DSC = 0x000001902FB52E56,
740 RSINodeTypeHMS_ANYBUS = 0x0000001B0000003D,
741 RSINodeTypeTECO_JSDG2E = 0x0000081B47322D45,
742 RSINodeTypeELMO_GOLD = 0x0000009A00030924,
743 RSINodeTypeELMO_DUET = 0x0000009A00030925,
744 RSINodeTypeELMO_PLATINUM = 0x0000009A01100002,
745 RSINodeTypeKEYENCE_NUEC1 = 0x0000054100002500,
746 RSINodeTypeSMC_EX260 = 0x0000011401000001,
747 RSINodeTypeSMC_EX600 = 0x0000011401000005,
748 RSINodeTypeAMAX_4830 = 0x000013FE00004830,
749 RSINodeTypeBONFIGLIOLI_ACU540 = 0x000000D500004000,
750 RSINodeTypeOMRON_1SN01H = 0x00000083000000AE,
751 RSINodeTypeOMRON_1SN01L = 0x00000083000000AB,
752 RSINodeTypeOMRON_1SN02H = 0x00000083000000AF,
753 RSINodeTypeOMRON_1SN02L = 0x00000083000000AC,
754 RSINodeTypeOMRON_1SN04H = 0x00000083000000B0,
755 RSINodeTypeOMRON_1SN04L = 0x00000083000000AD,
756 RSINodeTypeOMRON_1SN06F = 0x00000083000000BE,
757 RSINodeTypeOMRON_1SN08H = 0x00000083000000B1,
758 RSINodeTypeOMRON_1SN10F = 0x00000083000000B6,
759 RSINodeTypeOMRON_1SN10H = 0x00000083000000B2,
760 RSINodeTypeOMRON_1SN15F = 0x00000083000000B7,
761 RSINodeTypeOMRON_1SN15H = 0x00000083000000B3,
762 RSINodeTypeOMRON_1SN20F = 0x00000083000000B8,
763 RSINodeTypeOMRON_1SN20H = 0x00000083000000B4,
764 RSINodeTypeOMRON_1SN30F = 0x00000083000000B9,
765 RSINodeTypeOMRON_1SN30H = 0x00000083000000B5,
766 RSINodeTypeMITSUBISHI_MR_J4_TM = 0x00000A1E00000201,
767 RSINodeTypeMITSUBISHI_MR_J5_TM = 0x00000A1E00000304,
768 RSINodeTypeMITSUBISHI_MR_J5W2 = 0x00000A1E00000302,
769 RSINodeTypeMITSUBISHI_MR_JET = 0x00000A1E00000305,
770 RSINodeTypeLENZE_I550 = 0x0000003B69055000,
771 RSINodeTypeLENZE_I700_SINGLE = 0x0000003B69070001,
772 RSINodeTypeLENZE_I700_DOUBLE = 0x0000003B69070002,
773 RSINodeTypeINVT_DA200 = 0x0000061600000000,
774 RSINodeTypeABB_MICROFLEX = 0x000000B7000002BC,
775 RSINodeTypePARKER_PD = 0x0900008900010001,
776 RSINodeTypePARKER_FL20C = 0x0100008900000001,
777 RSINodeTypeHANS_DMODULE = 0x0000001A50440200,
778 RSINodeTypeTPM_STP_K121 = 0x000006AB4b121000,
779 RSINodeTypeTPM_SRV_K221 = 0x000006AB31221100,
780 RSINodeTypeORIENTAL_NETC01 = 0x000002BE00001397,
781 RSINodeTypeFASTECH_ETHERCAT = 0x0FA0000000001002,
782 RSINodeTypeFASTECH_ETHERCAT_TO = 0x0FA0000000001202,
783 RSINodeTypeFASTECH_ETHERCAT_ALL = 0x0FA0000000001007,
784 RSINodeTypeFASTECH_ETHERCAT_MINI = 0x0FA0000000001006,
785 RSINodeTypeFASTECH_ETHERCAT_I8O8 = 0x0FA0000000002021,
786 RSINodeTypeFASTECH_ETHERCAT_I16O16 = 0x0FA0000000002023,
787 RSINodeTypeFASTECH_ETHERCAT_DA04 = 0x0FA0000000002212,
788 RSINodeTypeFASTECH_ETHERCAT_AD08 = 0x0FA0000000002203,
789 RSINodeTypeDELTA_5500 = 0x000001DD00005500,
790 RSINodeTypeDELTA_6002 = 0x000001DD00006002,
791 RSINodeTypeDELTA_7062 = 0x000001DD00007062,
792 RSINodeTypeDELTA_70A2 = 0x000001DD000070A2,
793 RSINodeTypeDELTA_9144 = 0x000001DD00009144,
794 RSINodeTypeDELTA_8124 = 0x000001DD00008124,
795 RSINodeTypeDELTA_5621 = 0x000001DD00005621,
796 RSINodeTypeDELTA_ASDA_A3 = 0x000001DD00006010,
797 RSINodeTypeMOONS_SSDC06_EC = 0x0000016800000004,
798 RSINodeTypeMOONS_STF06_EC = 0x0000016800000002,
799 RSINodeTypeFUJI_ALPHA7 = 0x0000025E00010002,
800 RSINodeTypeBR_X20 = 0x0000006C0000AC23,
801 RSINodeTypeSICK_FLEXI_SOFT_SAFETY = 0x0100005600002301,
802 RSINodeTypeNEXCOM_NEIO1812 = 0x0000075200001812,
803 RSINodeTypeALICAT_MASS_FLOW_CONTROLLER = 0x0000093A00000005,
804 RSINodeTypeHIWIN_EDF1 = 0x0000AAAA00000005,
805 RSINodeTypeLEADSHINE_CS3E = 0x0000432100000100,
806 RSINodeTypeLEADSHINE_L7EC = 0x00004321000000B2,
807 RSINodeTypeLEADSHINE_DM3E = 0x0000432100008100,
808 RSINodeTypeINGENIA_CAPITAN_XCR = 0x0000029C03731001,
809 RSINodeTypeCONTROLTECHNIQUES_753 = 0x000000F901031102,
810 RSINodeTypeLINMOT_DRIVE = 0x4C4E54490096096F,
811 RSINodeTypeTECHNOSOFT_IPOS8015 = 0x000001A3015F5A2D,
812 RSINodeTypeJENNYSCIENCE_XENAX = 0x0000055700007509,
813 RSINodeTypeNANOTEC_PD4 = 0x0000026C0000003C,
814 RSINodeTypeWAGO = 0x0000002107500354,
815 RSINodeTypeIFM_AL1930 = 0x0000062200001930,
816 RSINodeTypeSANYODENKI_RS3 = 0x000001b90000000b,
817 RSINodeTypeODEAR_DSEX16Y16L_MW = 0x00000a8c0000000e,
818 RSINodeTypeICP_ECAT2055 = 0x0049435000000807,
819 RSINodeTypeLS_IX7NH = 0x0000759500010005,
820
821};
822
825enum class RSIState {
826 RSIStateIDLE = RSICONSTANTStateIDLE,
827 RSIStateMOVING = RSICONSTANTStateMOVING,
828 RSIStateSTOPPING = RSICONSTANTStateSTOPPING,
829 RSIStateSTOPPED = RSICONSTANTStateSTOPPED,
830 RSIStateSTOPPING_ERROR = RSICONSTANTStateSTOPPING_ERROR,
831 RSIStateERROR = RSICONSTANTStateERROR,
832};
833
836 RSIMotorDedicatedInAMP_FAULT = RSICONSTANTMotorDedicatedInAMP_FAULT,
837 RSIMotorDedicatedInBRAKE_APPLIED = RSICONSTANTMotorDedicatedInBRAKE_APPLIED,
838 RSIMotorDedicatedInHOME = RSICONSTANTMotorDedicatedInHOME,
839 RSIMotorDedicatedInLIMIT_HW_POS = RSICONSTANTMotorDedicatedInLIMIT_HW_POS,
840 RSIMotorDedicatedInLIMIT_HW_NEG = RSICONSTANTMotorDedicatedInLIMIT_HW_NEG,
841 RSIMotorDedicatedInINDEX = RSICONSTANTMotorDedicatedInINDEX_PRIMARY,
842 RSIMotorDedicatedInINDEX_SECONDARY = RSICONSTANTMotorDedicatedInINDEX_SECONDARY,
843 RSIMotorDedicatedInFEEDBACK_FAULT = RSICONSTANTMotorDedicatedInFEEDBACK_FAULT,
844 RSIMotorDedicatedInCAPTURED = RSICONSTANTMotorDedicatedInDRIVE_CAPTURED,
845 RSIMotorDedicatedInHALL_A = RSICONSTANTMotorDedicatedInHALL_A,
846 RSIMotorDedicatedInHALL_B = RSICONSTANTMotorDedicatedInHALL_B,
847 RSIMotorDedicatedInHALL_C = RSICONSTANTMotorDedicatedInHALL_C,
848 RSIMotorDedicatedInAMP_ACTIVE = RSICONSTANTMotorDedicatedInAMP_ACTIVE,
849 RSIMotorDedicatedInWARNING = RSICONSTANTMotorDedicatedInDRIVE_WARNING,
850 RSIMotorDedicatedInDRIVE_STATUS_9 = RSICONSTANTMotorDedicatedInDRIVE_STATUS_9,
851 RSIMotorDedicatedInDRIVE_STATUS_10 = RSICONSTANTMotorDedicatedInDRIVE_STATUS_10,
852 RSIMotorDedicatedInFEEDBACK_FAULT_PRIMARY = RSICONSTANTMotorDedicatedInFEEDBACK_FAULT_PRIMARY,
853 RSIMotorDedicatedInFEEDBACK_FAULT_SECONDARY = RSICONSTANTMotorDedicatedInFEEDBACK_FAULT_SECONDARY,
854};
855
858 RSIMotorDedicatedOutAMP_ENABLE = RSICONSTANTMotorDedicatedOutAMP_ENABLE,
859 RSIMotorDedicatedOutBRAKE_RELEASE = RSICONSTANTMotorDedicatedOutBRAKE_RELEASE,
860};
861
864 RSIMotorGeneralIo0 = RSICONSTANTMotorGeneralIo0,
865 RSIMotorGeneralIo1 = RSICONSTANTMotorGeneralIo1,
866 RSIMotorGeneralIo2 = RSICONSTANTMotorGeneralIo2,
867 RSIMotorGeneralIo3 = RSICONSTANTMotorGeneralIo3,
868 RSIMotorGeneralIo4 = RSICONSTANTMotorGeneralIo4,
869 RSIMotorGeneralIo5 = RSICONSTANTMotorGeneralIo5,
870 RSIMotorGeneralIo6 = RSICONSTANTMotorGeneralIo6,
871 RSIMotorGeneralIo7 = RSICONSTANTMotorGeneralIo7,
872 RSIMotorGeneralIo8 = RSICONSTANTMotorGeneralIo8,
873 RSIMotorGeneralIo9 = RSICONSTANTMotorGeneralIo9,
874 RSIMotorGeneralIo10 = RSICONSTANTMotorGeneralIo10,
875 RSIMotorGeneralIo11 = RSICONSTANTMotorGeneralIo11,
876 RSIMotorGeneralIo12 = RSICONSTANTMotorGeneralIo12,
877 RSIMotorGeneralIo13 = RSICONSTANTMotorGeneralIo13,
878 RSIMotorGeneralIo14 = RSICONSTANTMotorGeneralIo14,
879 RSIMotorGeneralIo15 = RSICONSTANTMotorGeneralIo15,
880 RSIMotorGeneralIo16 = RSICONSTANTMotorGeneralIo16,
881 RSIMotorGeneralIo17 = RSICONSTANTMotorGeneralIo17,
882 RSIMotorGeneralIo18 = RSICONSTANTMotorGeneralIo18,
883 RSIMotorGeneralIo19 = RSICONSTANTMotorGeneralIo19,
884 RSIMotorGeneralIo20 = RSICONSTANTMotorGeneralIo20,
885 RSIMotorGeneralIo21 = RSICONSTANTMotorGeneralIo21,
886 RSIMotorGeneralIo22 = RSICONSTANTMotorGeneralIo22,
887 RSIMotorGeneralIo23 = RSICONSTANTMotorGeneralIo23,
888 RSIMotorGeneralIo24 = RSICONSTANTMotorGeneralIo24,
889 RSIMotorGeneralIo25 = RSICONSTANTMotorGeneralIo25,
890 RSIMotorGeneralIo26 = RSICONSTANTMotorGeneralIo26,
891 RSIMotorGeneralIo27 = RSICONSTANTMotorGeneralIo27,
892 RSIMotorGeneralIo28 = RSICONSTANTMotorGeneralIo28,
893 RSIMotorGeneralIo29 = RSICONSTANTMotorGeneralIo29,
894 RSIMotorGeneralIo30 = RSICONSTANTMotorGeneralIo30,
895 RSIMotorGeneralIo31 = RSICONSTANTMotorGeneralIo31,
896};
897
900 RSIMotorLimitTypeAMP_FAULT = RSICONSTANTMotorLimitTypeAMP_FAULT,
901 RSIMotorLimitTypeAMP_WARNING = RSICONSTANTMotorLimitTypeAMP_WARNING,
902 RSIMotorLimitTypeFEEDBACK_FAULT = RSICONSTANTMotorLimitTypeFEEDBACK_FAULT,
903 RSIMotorLimitTypeERROR = RSICONSTANTMotorLimitTypeERROR,
904 RSIMotorLimitTypeTORQUE = RSICONSTANTMotorLimitTypeTORQUE,
905 RSIMotorLimitTypeHW_NEG = RSICONSTANTMotorLimitTypeHW_NEG,
906 RSIMotorLimitTypeHW_POS = RSICONSTANTMotorLimitTypeHW_POS,
907 RSIMotorLimitTypeSW_NEG = RSICONSTANTMotorLimitTypeSW_NEG,
908 RSIMotorLimitTypeSW_POS = RSICONSTANTMotorLimitTypeSW_POS,
909};
910
912enum class RSIEventType {
913 RSIEventTypeINVALID = RSICONSTANTEventTypeINVALID,
914 RSIEventTypeNONE = RSICONSTANTEventTypeNONE,
915 RSIEventTypeAMP_FAULT = RSICONSTANTEventTypeAMP_FAULT,
916 RSIEventTypeAMP_WARNING = RSICONSTANTEventTypeAMP_WARNING,
917 RSIEventTypeFEEDBACK_FAULT = RSICONSTANTEventTypeFEEDBACK_FAULT,
918 RSIEventTypeLIMIT_ERROR = RSICONSTANTEventTypeLIMIT_ERROR,
919 RSIEventTypeLIMIT_TORQUE = RSICONSTANTEventTypeLIMIT_TORQUE,
920 RSIEventTypeLIMIT_HW_NEG = RSICONSTANTEventTypeLIMIT_HW_NEG,
921 RSIEventTypeLIMIT_HW_POS = RSICONSTANTEventTypeLIMIT_HW_POS,
922 RSIEventTypeLIMIT_SW_NEG = RSICONSTANTEventTypeLIMIT_SW_NEG,
923 RSIEventTypeLIMIT_SW_POS = RSICONSTANTEventTypeLIMIT_SW_POS,
924 RSIEventTypeMOTION_DONE = RSICONSTANTEventTypeMOTION_DONE,
925 RSIEventTypeMOTION_START = RSICONSTANTEventTypeMOTION_START,
926 RSIEventTypeMOTION_MODIFY = RSICONSTANTEventTypeMOTION_MODIFY,
927 RSIEventTypeMOTION_AT_VELOCITY = RSICONSTANTEventTypeMOTION_AT_VELOCITY,
928 RSIEventTypeMOTION_OUT_OF_FRAMES = RSICONSTANTEventTypeMOTION_OUT_OF_FRAMES,
929 RSIEventTypeMOTION_LOAD_FRAMES = RSICONSTANTEventTypeMOTION_LOAD_FRAMES,
930 RSIEventTypeNEAR_TARGET = RSICONSTANTEventTypeNEAR_TARGET,
931 RSIEventTypeSETTLED = RSICONSTANTEventTypeSETTLED,
932 RSIEventTypeAT_TARGET = RSICONSTANTEventTypeAT_TARGET,
933 RSIEventTypeFRAME = RSICONSTANTEventTypeFRAME,
934 RSIEventTypeRECORDER_HIGH = RSICONSTANTEventTypeRECORDER_HIGH,
935 RSIEventTypeRECORDER_FULL = RSICONSTANTEventTypeRECORDER_FULL,
936 RSIEventTypeRECORDER_DONE = RSICONSTANTEventTypeRECORDER_DONE,
937 RSIEventTypeSEQUENCE = RSICONSTANTEventTypeSEQUENCE,
938 RSIEventTypeSEQUENCE_LOAD = RSICONSTANTEventTypeSEQUENCE_LOAD,
939 RSIEventTypeCONTROL_HOST_PROCESS_TIME_EXCEEDED = RSICONSTANTEventTypeCONTROL_HOST_PROCESS_TIME_EXCEEDED,
940 RSIEventTypeCONTROL_FAN = RSICONSTANTEventTypeCONTROL_FAN,
941 RSIEventTypeSYNQNET_DEAD = RSICONSTANTEventTypeSYNQNET_DEAD,
942 RSIEventTypeSYNQNET_RX_FAILURE = RSICONSTANTEventTypeSYNQNET_RX_FAILURE,
943 RSIEventTypeSYNQNET_TX_FAILURE = RSICONSTANTEventTypeSYNQNET_TX_FAILURE,
944 RSIEventTypeSYNQNET_NODE_FAILURE = RSICONSTANTEventTypeSYNQNET_NODE_FAILURE,
945 RSIEventTypeSYNQNET_RECOVERY = RSICONSTANTEventTypeSYNQNET_RECOVERY,
946 RSIEventTypeSQNODE_IO_ABORT = RSICONSTANTEventTypeSQNODE_IO_ABORT,
947 RSIEventTypeSQNODE_NODE_DISABLE = RSICONSTANTEventTypeSQNODE_NODE_DISABLE,
948 RSIEventTypeSQNODE_NODE_ALARM = RSICONSTANTEventTypeSQNODE_NODE_ALARM,
949 RSIEventTypeSQNODE_ANALOG_POWER_FAULT = RSICONSTANTEventTypeSQNODE_ANALOG_POWER_FAULT,
950 RSIEventTypeSQNODE_USER_FAULT = RSICONSTANTEventTypeSQNODE_USER_FAULT,
951 RSIEventTypeSQNODE_NODE_FAILURE = RSICONSTANTEventTypeSQNODE_NODE_FAILURE,
952 RSIEventTypeSQNODE_IO_FAULT = RSICONSTANTEventTypeSQNODE_IO_FAULT,
953 RSIEventTypeUSER_LIMIT = RSICONSTANTEventTypeUSER_LIMIT,
954 RSIEventTypeCAPTURE = RSICONSTANTEventTypeCAPTURE,
955 RSIEventTypeHOME = RSICONSTANTEventTypeEND,
957};
958
960enum class RSISource {
961 RSISourceAMP_FAULT = (decltype(RSICONSTANTEventTypeAMP_FAULT))RSIEventType::RSIEventTypeAMP_FAULT,
962 RSISourceHOME = (decltype(RSICONSTANTEventTypeEND))RSIEventType::RSIEventTypeHOME,
963 RSISourceLIMIT_ERROR = (decltype(RSICONSTANTEventTypeLIMIT_ERROR))RSIEventType::RSIEventTypeLIMIT_ERROR,
964 RSISourceLIMIT_HW_NEG = (decltype(RSICONSTANTEventTypeLIMIT_HW_NEG))RSIEventType::RSIEventTypeLIMIT_HW_NEG,
965 RSISourceLIMIT_HW_POS = (decltype(RSICONSTANTEventTypeLIMIT_HW_POS))RSIEventType::RSIEventTypeLIMIT_HW_POS,
966 RSISourceLIMIT_SW_NEG = (decltype(RSICONSTANTEventTypeLIMIT_SW_NEG))RSIEventType::RSIEventTypeLIMIT_SW_NEG,
967 RSISourceLIMIT_SW_POS = (decltype(RSICONSTANTEventTypeLIMIT_SW_POS))RSIEventType::RSIEventTypeLIMIT_SW_POS,
968 RSISourceFEEDBACK_FAULT = (decltype(RSICONSTANTEventTypeFEEDBACK_FAULT))RSIEventType::RSIEventTypeFEEDBACK_FAULT,
969 RSISourceOUT_OF_FRAMES = (decltype(RSICONSTANTEventTypeMOTION_OUT_OF_FRAMES))RSIEventType::RSIEventTypeMOTION_OUT_OF_FRAMES,
971};
972
974enum class RSIWait {
975 RSIWaitFOREVER = RSICONSTANTWaitFOREVER,
976 RSIWaitPOLL = RSICONSTANTWaitPOLL,
977 RSIWaitMSEC = RSICONSTANTWaitMSEC,
978};
979
981enum class RSIMotionType {
982 RSIMotionTypePT = RSICONSTANTMotionTypePT,
983 RSIMotionTypeBSPLINE = RSICONSTANTMotionTypeBSPLINE,
984 RSIMotionTypeSPLINE = RSICONSTANTMotionTypeSPLINE,
985 RSIMotionTypeBESSEL = RSICONSTANTMotionTypeBESSEL,
986 RSIMotionTypeBSPLINE2 = RSICONSTANTMotionTypeBSPLINE2,
987 RSIMotionTypePVT = RSICONSTANTMotionTypePVT,
988};
989
995
998
1000 RSIMotionAttrMaskDELAY = 1 << 2,
1001 RSIMotionAttrMaskRELATIVE = 1 << 3,
1002 RSIMotionAttrMaskID = 1 << 4,
1005 RSIMotionAttrMaskHOLD = 1 << 7,
1006 RSIMotionAttrMaskOUTPUT = 1 << 8,
1008 RSIMotionAttrMaskNO_WAIT = 1 << 10,
1009 RSIMotionAttrMaskELEMENT_ID = 1 << 11,
1010 RSIMotionAttrMaskRETAIN = 1 << 12,
1012 RSIMotionAttrMaskLOW_COUNT = 1 << 14,
1013
1014 RSIMotionAttrMaskAPPEND = 1 << 15,
1015 RSIMotionAttrMaskAUTO_START = 1 << 16,
1016 RSIMotionAttrMaskSYNC_END = 1 << 17,
1017 RSIMotionAttrMaskSYNC_START = 1 << 18,
1018
1019 RSIMotionAttrMaskREPEAT = 1 << 19,
1023 // see below RSIMotionAttrMaskALL = RSICONSTANTMotionAttrMaskALL,
1024
1025 // RSICONSTANT, now RSICONSTANT
1026 RSIMotionAttrMaskEVENT = 1 << 23,
1027 RSIMotionAttrMaskFINAL_VEL = 1 << 24,
1029
1030};
1031
1034 RSIMotionHoldTypeNONE = RSICONSTANTMotionHoldTypeNONE,
1035 RSIMotionHoldTypeGATE = RSICONSTANTMotionHoldTypeGATE,
1036 RSIMotionHoldTypeMOTOR_DEDICATED_IN = RSICONSTANTMotionHoldTypeMOTOR_DEDICATED_IN,
1037 RSIMotionHoldTypeMOTOR_DEDICATED_OUT = RSICONSTANTMotionHoldTypeMOTOR_DEDICATED_OUT,
1038 RSIMotionHoldTypeMOTOR_GENERAL_IN = RSICONSTANTMotionHoldTypeMOTOR_GENERAL_IN,
1039 RSIMotionHoldTypeMOTOR_GENERAL_OUT = RSICONSTANTMotionHoldTypeMOTOR_GENERAL_OUT,
1040 RSIMotionHoldTypeAXIS_COMMAND_POSITION = RSICONSTANTMotionHoldTypeAXIS_COMMAND_POSITION,
1041 RSIMotionHoldTypeAXIS_ACTUAL_POSITION = RSICONSTANTMotionHoldTypeAXIS_ACTUAL_POSITION,
1042 RSIMotionHoldTypeCUSTOM = RSICONSTANTMotionHoldTypeCUSTOM,
1043};
1044
1051
1053enum class RSIAction {
1054 RSIActionNONE = RSICONSTANTActionNONE,
1055 RSIActionSTOP = RSICONSTANTActionSTOP,
1056 RSIActionE_STOP = RSICONSTANTActionE_STOP,
1057 RSIActionE_STOP_ABORT = RSICONSTANTActionE_STOP_ABORT,
1058 RSIActionE_STOP_MODIFY = RSICONSTANTActionE_STOP_MODIFY,
1059 RSIActionE_STOP_MODIFY_ABORT = RSICONSTANTActionE_STOP_MODIFY_ABORT,
1060 RSIActionE_STOP_CMD_EQ_ACT = RSICONSTANTActionE_STOP_CMD_EQ_ACT,
1061 RSIActionABORT = RSICONSTANTActionABORT,
1062 RSIActionDONE = RSICONSTANTActionDONE,
1063 RSIActionSTART = RSICONSTANTActionSTART,
1064 RSIActionRESUME = RSICONSTANTActionRESUME,
1065 RSIActionRESET = RSICONSTANTActionRESET,
1066 RSIActionCANCEL_REPEAT = RSICONSTANTActionCANCEL_REPEAT,
1067 RSIActionTRIGGERED_MODIFY = RSICONSTANTActionTRIGGERED_MODIFY,
1068};
1069
1075
1078 RSIAxisGantryTypeNONE = RSICONSTANTAxisGantryTypeNONE,
1079 RSIAxisGantryTypeADD = RSICONSTANTAxisGantryTypeLINEAR,
1080 RSIAxisGantryTypeSUBTRACT = RSICONSTANTAxisGantryTypeTWIST,
1081};
1082
1085 RSIMotorFeedbackFaultPRIMARY = RSICONSTANTMotorFeedbackFaultPRIMARY,
1086 RSIMotorFeedbackFaultSECONDARY = RSICONSTANTMotorFeedbackFaultSECONDARY,
1087 RSIMotorFeedbackFaultPRIMARY_OR_SECONDARY = RSICONSTANTMotorFeedbackFaultPRIMARY_OR_SECONDARY,
1088};
1089
1092 RSIMotorFeedbackPRIMARY = RSICONSTANTMotorFeedbackInputPRIMARY,
1093 RSIMotorFeedbackSECONDARY = RSICONSTANTMotorFeedbackInputSECONDARY,
1094};
1095
1098 RSIFilterAlgorithmPID = RSICONSTANTFilterAlgorithmPID,
1099 RSIFilterAlgorithmPIV = RSICONSTANTFilterAlgorithmPIV,
1100 RSIFilterAlgorithmNONE = RSICONSTANTFilterAlgorithmNONE,
1101 RSIFilterAlgorithmPIV1 = RSICONSTANTFilterAlgorithmPIV1,
1102 RSIFilterAlgorithmUSER = RSICONSTANTFilterAlgorithmUSER,
1103};
1104
1125
1146
1149 RSIFilterGainIndexNO_MOTION = RSICONSTANTFilterGainIndexNO_MOTION,
1150 RSIFilterGainIndexACCEL = RSICONSTANTFilterGainIndexACCEL,
1151 RSIFilterGainIndexDECEL = RSICONSTANTFilterGainIndexDECEL,
1152 RSIFilterGainIndexVELOCITY = RSICONSTANTFilterGainIndexVELOCITY,
1153};
1154
1157 RSIAxisMasterTypeMOTOR_FEEDBACK_PRIMARY = RSICONSTANTAxisMasterTypeMOTOR_FEEDBACK_PRIMARY,
1158 RSIAxisMasterTypeMOTOR_FEEDBACK_SECONDARY = RSICONSTANTAxisMasterTypeMOTOR_FEEDBACK_SECONDARY,
1159 RSIAxisMasterTypeAXIS_COMMAND_POSITION = RSICONSTANTAxisMasterTypeAXIS_COMMAND_POSITION,
1160 RSIAxisMasterTypeAXIS_ACTUAL_POSITION = RSICONSTANTAxisMasterTypeAXIS_ACTUAL_POSITION,
1161 RSIAxisMasterTypeADDRESS = RSICONSTANTAxisMasterTypeCUSTOM,
1162 RSIAxisMasterTypeNONE = RSICONSTANTAxisMasterTypeNONE,
1163};
1164
1166enum class RSIMotorIoType {
1167 RSIMotorIoTypeOUTPUT = RSICONSTANTMotorIoTypeOUTPUT,
1168 RSIMotorIoTypePULSE_A = RSICONSTANTMotorIoTypePULSE_A,
1169 RSIMotorIoTypePULSE_B = RSICONSTANTMotorIoTypePULSE_B,
1170 RSIMotorIoTypeCOMPARE_0 = RSICONSTANTMotorIoTypeCOMPARE_0,
1171 RSIMotorIoTypeCOMPARE_1 = RSICONSTANTMotorIoTypeCOMPARE_1,
1172 RSIMotorIoTypeBRAKE = RSICONSTANTMotorIoTypeBRAKE,
1173 RSIMotorIoTypeSOURCE6 = RSICONSTANTMotorIoTypeSOURCE6,
1174 RSIMotorIoTypeSSI_CLOCK0 = RSICONSTANTMotorIoTypeSSI_CLOCK0,
1175 RSIMotorIoTypeSSI_CLOCK1 = RSICONSTANTMotorIoTypeSSI_CLOCK1,
1176 RSIMotorIoTypeSOURCE9 = RSICONSTANTMotorIoTypeSOURCE9,
1177 RSIMotorIoTypeSOURCE10 = RSICONSTANTMotorIoTypeSOURCE10,
1178 RSIMotorIoTypeSOURCE11 = RSICONSTANTMotorIoTypeSOURCE11,
1179 RSIMotorIoTypeSOURCE12 = RSICONSTANTMotorIoTypeSOURCE12,
1180 RSIMotorIoTypeSOURCE13 = RSICONSTANTMotorIoTypeSOURCE13,
1181 RSIMotorIoTypeSOURCE14 = RSICONSTANTMotorIoTypeSOURCE14,
1182 RSIMotorIoTypeSOURCE15 = RSICONSTANTMotorIoTypeSOURCE15,
1183 RSIMotorIoTypeINPUT = RSICONSTANTMotorIoTypeINPUT,
1184};
1185
1191
1194 RSIMotorStepperPulseTypeSTEP = RSICONSTANTMotorStepperPulseTypeSTEP,
1195 RSIMotorStepperPulseTypeDIR = RSICONSTANTMotorStepperPulseTypeDIR,
1196 RSIMotorStepperPulseTypeCW = RSICONSTANTMotorStepperPulseTypeCW,
1197 RSIMotorStepperPulseTypeCCW = RSICONSTANTMotorStepperPulseTypeCCW,
1198 RSIMotorStepperPulseTypeQUADA = RSICONSTANTMotorStepperPulseTypeQUADA,
1199 RSIMotorStepperPulseTypeQUADB = RSICONSTANTMotorStepperPulseTypeQUADB,
1200};
1201
1204 RSIMotorIoTypeMaskOUTPUT = RSICONSTANTMotorIoTypeMaskOUTPUT,
1205 RSIMotorIoTypeMaskSOURCE1 = RSICONSTANTMotorIoTypeMaskSOURCE1,
1206 RSIMotorIoTypeMaskSOURCE2 = RSICONSTANTMotorIoTypeMaskSOURCE2,
1207 RSIMotorIoTypeMaskSOURCE3 = RSICONSTANTMotorIoTypeMaskSOURCE3,
1208 RSIMotorIoTypeMaskSOURCE4 = RSICONSTANTMotorIoTypeMaskSOURCE4,
1209 RSIMotorIoTypeMaskSOURCE5 = RSICONSTANTMotorIoTypeMaskSOURCE5,
1210 RSIMotorIoTypeMaskSOURCE6 = RSICONSTANTMotorIoTypeMaskSOURCE6,
1211 RSIMotorIoTypeMaskSOURCE7 = RSICONSTANTMotorIoTypeMaskSOURCE7,
1212 RSIMotorIoTypeMaskSOURCE8 = RSICONSTANTMotorIoTypeMaskSOURCE8,
1213 RSIMotorIoTypeMaskSOURCE9 = RSICONSTANTMotorIoTypeMaskSOURCE9,
1214 RSIMotorIoTypeMaskSOURCE10 = RSICONSTANTMotorIoTypeMaskSOURCE10,
1215 RSIMotorIoTypeMaskSOURCE11 = RSICONSTANTMotorIoTypeMaskSOURCE11,
1216 RSIMotorIoTypeMaskSOURCE12 = RSICONSTANTMotorIoTypeMaskSOURCE12,
1217 RSIMotorIoTypeMaskSOURCE13 = RSICONSTANTMotorIoTypeMaskSOURCE13,
1218 RSIMotorIoTypeMaskSOURCE14 = RSICONSTANTMotorIoTypeMaskSOURCE14,
1219 RSIMotorIoTypeMaskSOURCE15 = RSICONSTANTMotorIoTypeMaskSOURCE15,
1220 RSIMotorIoTypeMaskINPUT = RSICONSTANTMotorIoTypeMaskINPUT,
1221 RSIMotorIoTypeMaskPULSE_A = RSICONSTANTMotorIoTypeMaskPULSE_A,
1222 RSIMotorIoTypeMaskPULSE_B = RSICONSTANTMotorIoTypeMaskPULSE_B,
1223 RSIMotorIoTypeMaskCOMPARE_0 = RSICONSTANTMotorIoTypeMaskCOMPARE_0,
1224 RSIMotorIoTypeMaskCOMPARE_1 = RSICONSTANTMotorIoTypeMaskCOMPARE_1,
1225 RSIMotorIoTypeMaskBRAKE = RSICONSTANTMotorIoTypeMaskBRAKE,
1226 RSIMotorIoTypeMaskSSI_CLOCK0 = RSICONSTANTMotorIoTypeMaskSSI_CLOCK0,
1227 RSIMotorIoTypeMaskSSI_CLOCK1 = RSICONSTANTMotorIoTypeMaskSSI_CLOCK1,
1228};
1229
1235
1238 RSIMotorFaultMaskAMP = RSICONSTANTMotorFaultMaskAMP,
1239 RSIMotorFaultMaskDRIVE = RSICONSTANTMotorFaultMaskDRIVE,
1240 RSIMotorFaultMaskWATCHDOG = RSICONSTANTMotorFaultMaskWATCHDOG,
1241 RSIMotorFaultMaskCHECKSUM = RSICONSTANTMotorFaultMaskCHECKSUM,
1242 RSIMotorFaultMaskFEEDBACK = RSICONSTANTMotorFaultMaskFEEDBACK,
1243 RSIMotorFaultMaskAMP_NOT_POWERED = RSICONSTANTMotorFaultMaskNOT_READY_FOR_REMOTE_CONTROL,
1244 RSIMotorFaultMaskDRIVE_NOT_READY = RSICONSTANTMotorFaultMaskDRIVE_NOT_READY,
1245 RSIMotorFaultMaskFEEDBACK_FAULT_SECONDARY = RSICONSTANTMotorFaultMaskFEEDBACK_FAULT_SECONDARY
1246};
1247
1249enum class RSIMotorType {
1250 RSIMotorTypeSERVO = RSICONSTANTMotorTypeSERVO,
1251 RSIMotorTypeSTEPPER = RSICONSTANTMotorTypeSTEPPER,
1254};
1255
1258 RSIMotorDisableActionNONE = RSICONSTANTMotorDisableActionNONE,
1259 RSIMotorDisableActionCMD_EQ_ACT = RSICONSTANTMotorDisableActionCMD_EQ_ACT,
1260};
1261
1264 RSIMotorBrakeModeNONE = RSICONSTANTMotorBrakeModeNONE,
1265 RSIMotorBrakeModeDELAY = RSICONSTANTMotorBrakeModeDELAY,
1266};
1267
1281
1288
1293
1301
1321
1328
1331 RSICompensatorOutputTypeSINGLE = RSICONSTANTFWCompensatorOutputTypeSINGLE,
1332 RSICompensatorOutputTypeADDITIVE = RSICONSTANTFWCompensatorOutputTypeADDITIVE
1333};
1334
1336enum class RSIPDOType {
1339};
1340
1359
1361
1362} // namespace RSI
1363
1364} // namespace RapidCode
1365#endif // _RSI_CONSTANTS_H
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1097
@ RSIFilterAlgorithmUSER
User defined algorithm (custom firmware required)
@ RSIFilterAlgorithmNONE
No control algorithm.
@ RSIFilterAlgorithmPIV1
PIV1 (custom firmware required)
RSIPDOType
Compensator output types.
Definition rsienums.h:1336
@ RSIPDOTypeOUTPUT
A network PDO OUTPUT.
@ RSIPDOTypeINPUT
A network PDO INPUT.
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1342
@ RSIMathBlockOperationSUBTRACT
Subtraction operation.
@ RSIMathBlockOperationBIT_MASK_AND
Bitwise AND operation.
@ RSIMathBlockOperationDIVIDE
Division operation.
@ RSIMathBlockOperationBIT_MASK_OR
Bitwise OR operation.
@ RSIMathBlockOperationMULTIPLY
Multiplication operation.
@ RSIMathBlockOperationADD
Addition operation.
@ RSIMathBlockOperationSQRT
Square root operation.
@ RSIMathBlockOperationNONE
No operation. Disables the MathBlock.
@ RSIMathBlockOperationBIT_MASK_XOR
Bitwise XOR operation.
@ RSIMathBlockOperationBIT_MASK_SHIFT_LEFT
Bitwise shift left operation.
@ RSIMathBlockOperationBIT_MASK_SHIFT_RIGHT
Bitwise shift right operation.
@ RSIMathBlockOperationSQRT_X_SQRD_PLUS_Y_SQRD
Calculates the square root of (x^2 + y^2).
@ RSIMathBlockOperationBIT_MASK_AND_WITH_INVERTED
Bitwise AND with inverted values.
@ RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
@ RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodImprovedFALLING_HOME_POSITIVE_START_POITIVE_MOMENTUM
@ RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodPOSITIVE_HARDSTOP
Positive Hardstop.
@ RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedRISING_HOME_POSITIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodNEGATIVE_HARDSTOP
Negative Hardstop.
@ RSIHomeMethodImprovedFALLING_HOME_POSITIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedRISING_HOME_NEGATIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodImprovedRISING_HOME_POSITIVE_START_POSITIVE_MOMENTUM
@ RSIHomeMethodImprovedRISING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM
@ RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
@ RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM
@ RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodNONE
Set the current position to zero (home)
@ RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1330
@ RSICompensatorOutputTypeSINGLE
Compensator output will overwrite any other compensation values.
@ RSICompensatorOutputTypeADDITIVE
Compensator output bill be added to all other compensation values.
RSINetworkStartMode
Network start modes.
Definition rsienums.h:577
@ RSINetworkStartModePREOPERATIONAL
start the network in preoperational mode
@ RSINetworkStartModeOPERATIONAL
start the network in operational mode (default)
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1084
@ RSIMotorFeedbackFaultPRIMARY
Feedback Fault Primary.
@ RSIMotorFeedbackFaultSECONDARY
Feedback Fault Secondary.
@ RSIMotorFeedbackFaultPRIMARY_OR_SECONDARY
Feedback Fault (Primary or Secondary)
RSITrace
Trace masks.
Definition rsienums.h:529
@ RSITraceLOCK_TAKE
On lock take.
@ RSITraceFUNCTION_RETURN
Function return.
@ RSITraceFUNCTION_ENTRY
Function entry.
@ RSITraceLOCK_GIVE
On lock give.
@ RSITraceTRAJECTORY_EXECUTOR
Trajectory.
@ RSITraceMEMORY_ALLOC
On memory allocation.
@ RSITraceMEMORY_FREE
On memory free.
@ RSITraceMEMORY_SET
Memroy set.
@ RSITraceALL
Trace everything.
@ RSITraceMEMORY_GET
Memory get.
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1187
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1077
RSINetworkState
State of network.
Definition rsienums.h:557
@ RSINetworkStatePREOPERATIONAL
EtherCAT preoperational.
@ RSINetworkStateSHUTDOWN
EtherCAT was shutdown or stopped, must restart.
@ RSINetworkStateDISCOVERED
EtherCAT nodes discovered but not started.
@ RSINetworkStateDISCOVERING
EtherCAT network is in the process of discovering nodes.
@ RSINetworkStateOPERATIONAL
EtherCAT operational, good state.
@ RSINetworkStateSTARTING
EtherCAT is starting.
@ RSINetworkStateUNINITIALIZED
EtherCAT not yet started.
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:404
@ RSIControllerAddressTypeUSER_BUFFER
First location in User Buffer.
@ RSIControllerAddressTypeMATHBLOCK_PROCESS_VALUE
the processed value of a math block (must specify object index)
@ RSIControllerAddressTypeFRAME_SEND_RECEIVE_MICROSECONDS
programmable delay for packet send/receive
@ RSIControllerAddressTypeCOMPENSATOR_OUTPUT_TYPE
used to configure a compensator for single or additive output
@ RSIControllerAddressTypeCOMPENSATOR_COMPENSATOR_VALUE
the output of just that compensator no additive compensators
@ RSIControllerAddressTypeNETWORK_TIMING_DELTA
the latest time delta between the current network packet send time and the previous (microseconds)....
@ RSIControllerAddressTypeUSERLIMIT_STATUS
UserLimit status (must specify object index)
@ RSIControllerAddressTypeFIRMWARE_NULL_INPUT
the null input value for the RMP firmware (used for restoring firmware input pointers to default)
@ RSIControllerAddressTypeSAMPLE_COUNTER
Sample Counter.
@ RSIControllerAddressTypeFIRMWARE_NULL_OUTPUT
the null output value for the RMP firmware ( used for restoring firmware output pointers to default)
@ RSIControllerAddressTypeSEQUENCER_GLOBALS_METADATA
the base address for the sequencer global variables metadata
@ RSIControllerAddressTypeLIMIT_ENABLED_MASK
first 32-bits of LimitEnalbedMask
@ RSIControllerAddressTypeRECORDER_BUFFER_POINTER
Pointer to the RecorderBuffer.
@ RSIControllerAddressTypeSEQUENCER_GLOBALS
the base address for the sequencer global variables
@ RSIControllerAddressTypeNETWORK_TIMING_RECEIVE_DELTA
the latest time delta between the current network packet receive time and the previous (microseconds)...
@ RSIControllerAddressTypeFIRMWARE_TIMING_DELTA
the latest time delta between the current RMP sample and the previous (microseconds)
@ RSIControllerAddressTypeSIGNATURE
Signature word.
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1257
@ RSIMotorDisableActionNONE
No action taken when disabled.
@ RSIMotorDisableActionCMD_EQ_ACT
Set Command Position = Actual Position when amp is disabled.
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:912
RSIMotionType
Streaming motion types.
Definition rsienums.h:981
@ RSIMotionTypePT
simple Position and Time algorithm
@ RSIMotionTypeBSPLINE
BSpline algorithm.
@ RSIMotionTypePVT
Position, Velocity and Time. For internal use when MovePVT() is called.
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:644
@ RSIDataTypeUINT32
uint32 (unsigned 32-bit integer)
@ RSIDataTypeDOUBLE
double (64-bit floating point)
@ RSIDataTypeINT64
int64 (signed 64-bit integer)
@ RSIDataTypeUSHORT
ushort (unsigned 16-bit) (deprecated)
@ RSIDataTypeMASK32
32-bit bitmask
@ RSIDataTypeSHORT
short (signed 16-bit) (deprecated)
@ RSIDataTypeINT16
signed 16-bit integer
@ RSIDataTypeUINT16
unsigned 16-bit integer
@ RSIDataTypeMASK64
64-bit bitmask
@ RSIDataTypeINT32
int32 (signed 32-bit integer)
@ RSIDataTypeUINT64
uint64 (unsigned 64-bit integer)
@ RSIDataTypeFLOAT
float (32-bit floating point, rarely used)
RSIMotorLimitType
Motor Limits.
Definition rsienums.h:899
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:631
@ RSIUserLimitLogicABS_LE
Absolute value is less than.
@ RSIUserLimitLogicLE
Less than or equal.
@ RSIUserLimitLogicABS_GT
Absolute value is greater than.
@ RSIUserLimitLogicABS_EQ
Absolute value is equal to.
@ RSIUserLimitLogicGE
Greater than or equal.
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1203
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1053
@ RSIActionABORT
Abort - disable the amplifier, zero filter output, leave in error state.
@ RSIActionE_STOP_CMD_EQ_ACT
E-Stop then set Command position equal to Actual Position.
@ RSIActionE_STOP_MODIFY
E-Stop using a Deceleration and Jerk Percent.
@ RSIActionTRIGGERED_MODIFY
Trigger motion to zero velocity using Deceleration and Jerk Percent.
@ RSIActionE_STOP
E-Stop - decelerate in EStopTime and leave in error state.
@ RSIActionSTOP
Stop - decelerate in StopTime (can be resumed)
@ RSIActionE_STOP_MODIFY_ABORT
E-Stop using a Deceleration and Jerk Percent then Abort.
@ RSIActionNONE
None - do not perform any action.
@ RSIActionE_STOP_ABORT
E-Stop then Abort.
@ RSIActionRESUME
Resume a paused motion.
RSIAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:425
@ RSIAxisAddressTypeAXIS_LINK
Axis Link for Gantry use.
@ RSIAxisAddressTypeENCODER_SECONDARY_DELTA
Secondary Encoder position delta.
@ RSIAxisAddressTypeDEMAND_CHANNEL_THREE_OUTPUT
Motor Config Demand Output Channel 3.
@ RSIAxisAddressTypeDEMAND_CHANNEL_TWO_OUTPUT
Motor Config Demand Output Channel 2.
@ RSIAxisAddressTypeENCODER_PRIMARY_DELTA
Primary Encoder position delta.
@ RSIAxisAddressTypeFILTER_VELOCITY_POINTER
Filter Velocity Pointer (points to feedback delta)
@ RSIAxisAddressTypeBACKLASH_VALUE
The resuling backlash compensation value.
@ RSIAxisAddressTypeDEMAND_CHANNEL_ONE_OUTPUT
Motor Config Demand Output Channel 1.
@ RSIAxisAddressTypeENCODER_SECONDARY
Secondary Encoder position.
@ RSIAxisAddressTypeDEMAND_CHANNEL_THREE_INPUT
Motor Config Demand Input Channel 3.
@ RSIAxisAddressTypeDEDICATED_OUTPUTS
Dedicated Outputs (Amp Enable, Brake, etc)
@ RSIAxisAddressTypeENCODER_PRIMARY
Primary Encoder position.
@ RSIAxisAddressTypeFRAME_INDEX
The index of the frame currently executing.
@ RSIAxisAddressTypeDEMAND_CHANNEL_THREE_SCALE
Motor Config Demand Scale Channel 3.
@ RSIAxisAddressTypeACTUAL_VELOCITY
Actual Velocity.
@ RSIAxisAddressTypeFRAME_LOAD_INDEX
The index of the last loaded frame.
@ RSIAxisAddressTypeFILTER_SECONDARY_POINTER
Filter Secondary Pointer for Gantry use.
@ RSIAxisAddressTypeENCODER_PRIMARY_POINTER
Encoder[0].Ptr. Useful for Created Axes.
@ RSIAxisAddressTypeMOTOR_DATA_STATUS
Motor Status.
@ RSIAxisAddressTypeTARGET_POSITION
Target Position.
@ RSIAxisAddressTypeAMP_ACTIVE_SUPPORTED
Will be automatically set true for drives which support AMP_ACTIVE (read-only)
@ RSIAxisAddressTypeMOTION_ID
Motion Identifier.
@ RSIAxisAddressTypeTARGET_FEEDRATE
Target FeedRate.
@ RSIAxisAddressTypeFILTER_SMOOTHED_VELOCITY
Smoothed velocity estimate from the filter object.
@ RSIAxisAddressTypeAXIS_CONFIG_FEEDBACKPTR_ZERO
AxisConfig FeedbackPtr[0].
@ RSIAxisAddressTypeDIGITAL_OUTPUTS
Digital Output (general purpose)
@ RSIAxisAddressTypeCOMMAND_ACCELERATION
Command Acceleration.
@ RSIAxisAddressTypeDEMAND_PRIMARY_SCALE
Motor Config Demand Scale Channel 0.
@ RSIAxisAddressTypeFILTER_SECONDARY_COEFF
Filter Secondary Coefficient for Gantry use.
@ RSIAxisAddressTypeDEMAND_PRIMARY_OUTPUT
Motor Config Demand Output Channel 0. Useful for Created Axes.
@ RSIAxisAddressTypeDEDICATED_INPUTS_POINTER
Pointer to Dedicated Inputs (Home, Limits, Amp Fault, etc)
@ RSIAxisAddressTypeDEMAND_CHANNEL_ONE_SCALE
Motor Config Demand Scale Channel 1.
@ RSIAxisAddressTypeFILTER_PRIMARY_COEFF
Filter Primary Coefficient for Gantry use.
@ RSIAxisAddressTypeDS402_SUPPORTED
Will be automatically set true for drives which support the DS402 standard.
@ RSIAxisAddressTypeMOTION_ELEMENT_ID
Motion Element Identifier (element within the motion)
@ RSIAxisAddressTypeCOMPENSATION_FINAL_VALUE
Final Compensation value, the value subtraced from ActualPosition and added to position demand.
@ RSIAxisAddressTypeMOTION_STATUS
Motion Status.
@ RSIAxisAddressTypeDEMAND_CHANNEL_TWO_INPUT
Motor Config Demand Input Channel 2.
@ RSIAxisAddressTypeDEMAND
Filter Output (the commanded torque sent to the drive)
@ RSIAxisAddressTypeCOMMAND_POSITION
Command Position.
@ RSIAxisAddressTypeDEMAND_PRIMARY_INPUT
Motor Config Demand Input Channel 0.
@ RSIAxisAddressTypeDIGITAL_INPUTS
Digital Input (general purpose)
@ RSIAxisAddressTypeCONTROL_MODE_PRIMARY_MAP
0xFFFFxxxx. xxxx=FFF0 for 1, FF10 for 2, F210 for 3, and 3210 for 4 Demand Channel(s) Processed.
@ RSIAxisAddressTypeFILTER_GAIN_KP
Proportional Gain.
@ RSIAxisAddressTypeAXIS_CONFIG_FEEDBACKPTR_ONE
AxisConfig FeedbackPtr[1].
@ RSIAxisAddressTypeTC_ACTUAL_POSITION
(internal) Trajectory Calculator Actual Position
@ RSIAxisAddressTypeCOMMAND_VELOCITY
Command Velocity.
@ RSIAxisAddressTypeCOMPENSATION_CURRENT_VALUE
Compensation value, where multiple compensators can write.
@ RSIAxisAddressTypeDEMAND_CHANNEL_ONE_INPUT
Motor Config Demand Input Channel 1.
@ RSIAxisAddressTypePOSITION_ERROR
Position Error.
@ RSIAxisAddressTypePOST_TRAJECTORY_GEARING_POSITION
The gear position applied to this axis by Post Trajectory Gearing.
@ RSIAxisAddressTypeACTUAL_POSITION
Actual Position.
@ RSIAxisAddressTypeFILTER_PRIMARY_POINTER
Filter Primary Pointer for Gantry use.
@ RSIAxisAddressTypeDEMAND_CHANNEL_TWO_SCALE
Motor Config Demand Scale Channel 2.
@ RSIAxisAddressTypeTC_COMMAND_POSITION
(internal) Trajectory Calculator Command Position
@ RSIAxisAddressTypeAMP_ENABLE_AMP_FAULT_TIMEOUT
The timeout in seconds after which an Amp Fault will occur if the Axis does not enable after calling ...
@ RSIAxisAddressTypeDEDICATED_INPUTS
Dedicated Inputs (Home, Limits, Amp Fault, etc)
RSIProcessorType
Controller's processor type.
Definition rsienums.h:294
@ RSIProcessorTypeRMP
RSI processor (Soft Motion)
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1193
RSIMotorType
Motor Type.
Definition rsienums.h:1249
@ RSIMotorTypeSTEPPER
Stepper motor.
@ RSIMotorTypePHANTOM
Phantom motor (nothing physically connected)
RSIWait
Waiting for interrupts.
Definition rsienums.h:974
@ RSIWaitPOLL
return immediately, use polling
@ RSIWaitFOREVER
Wait forever before returning.
RSIAnalogOutChannel
Analog output channels.
Definition rsienums.h:1231
RSINetworkStartError
Network start errors.
Definition rsienums.h:583
@ RSINetworkStartErrorTHREAD_SCHEDULING_OR_PRIORITY
Failed to set thread scheduling or priority.
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:863
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:997
@ RSIMotionAttrMaskOUTPUT
Sets or clear bits after the move.
@ RSIMotionAttrMaskNO_REVERSAL
No Reversal.
@ RSIMotionAttrMaskNO_HANDSHAKE
Does NOT wait for the handshake between the software and controller to begin the motion trajectory pr...
@ RSIMotionAttrMaskRELATIVE
The position values for the move are interpreted relative to the current position.
@ RSIMotionAttrMaskDELAY
Inserts a pause before the beginning of the move. MotionDelaySet contains the length of the delay.
@ RSIMotionAttrMaskNO_WAIT
Does NOT wait for the controller to acknowledge the commanded move, does NOT wait for the controller ...
@ RSIMotionAttrMaskNO_BACKTRACK
No Backtrack.
@ RSIMotionAttrMaskAPPEND
Append motion.
@ RSIMotionAttrMaskSYNC_START
Synchronize start of motion for all axes.
@ RSIMotionAttrMaskHOLD
Prevents the move from executing until a specific trigger condition is met. See MotionHold methods.
@ RSIMotionAttrMaskMASTER_START
Master Start.
@ RSIMotionAttrMaskNO_BACKTRACK_HOLD
No Backtrack Hold.
@ RSIMotionAttrMaskSYNC_END
Synchronize end of motion for all axes.
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:487
@ RSIMultiAxisAddressTypeTARGET_FEEDRATE
Target FeedRate.
@ RSIMultiAxisAddressTypeMOTION_STATUS
Motion Status.
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1106
@ RSIFilterGainPIDCoeffOUTPUT_LIMITHIGH
Output Limit (High)
@ RSIFilterGainPIDCoeffDRATE
Derivative sub-sampling rate.
@ RSIFilterGainPIDCoeffOUTPUT_LIMITLOW
Output Limit (Low)
@ RSIFilterGainPIDCoeffOUTPUT_OFFSET
Output Offset.
@ RSIFilterGainPIDCoeffINTEGRATIONMAX_MOVING
Integrator Maximum (in motion)
@ RSIFilterGainPIDCoeffOUTPUT_VELOCITYLIMITHIGH
Output Limit (High)
@ RSIFilterGainPIDCoeffINTEGRATIONMAX_REST
Integrator Maximum (not moving)
@ RSIFilterGainPIDCoeffNOISE_POSITIONFFT
Noise position FFT.
@ RSIFilterGainPIDCoeffOUTPUT_VELOCITYLIMITLOW
Output Limit (Low)
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:618
@ RSIUserLimitTriggerTypeTIMER
Specifies that the user limit is to be used as a timer.
@ RSIUserLimitTriggerTypeEND
internal use only
@ RSIUserLimitTriggerTypeCOUNT
internal use only
@ RSIUserLimitTriggerTypeFIRST
internal use only
@ RSIUserLimitTriggerTypeCONDITION_OR
Two conditions are evaluated and combined via a logical OR.
@ RSIUserLimitTriggerTypeSINGLE_CONDITION
Only one condition is evaluated.
@ RSIUserLimitTriggerTypeCONDITION_AND
Two conditions are evaluated and combined via a logical AND.
@ RSIUserLimitTriggerTypeNONE
Disables the user limit. No conditions are evaluated.
RSIFirmwareLogic
Logic options for User Limits.
Definition rsienums.h:549
@ RSILogicAND
Two conditions are evaluated and combined via a logical AND.
@ RSILogicOR
Two conditions are evaluated and combined via a logical OR.
@ RSILogicNEVER
Disables the user limit. No conditions are evaluated.
@ RSILogicSINGLE
Only one condition is evaluated.
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1323
@ RSINetworkOutputAddressTypeOVERRIDE_VALUE
The value to be sent if we are overriding intended value.
@ RSINetworkOutputAddressTypeFIRMWARE_VALUE
The value to be sent if we aren't overriding it.
@ RSINetworkOutputAddressTypeSENT_VALUE
The value sent over the network. Could be firmware value or override value, depending on override set...
INtimeStatus
INtime status values.
Definition rsienums.h:1295
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1033
RSIControllerType
Controller type.
Definition rsienums.h:283
@ RSIControllerTypeCLIENT
Client - TCP/IP networked.
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1237
@ RSIMotorFaultMaskAMP_NOT_POWERED
Not powered.
@ RSIMotorFaultMaskFEEDBACK_FAULT_SECONDARY
Secondary feedback.
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
@ RSIHomeStageSTAGE_TWO
Searching Move from Limit Active to Limit Edge. (ie Returning to Home Edge)
@ RSIHomeStageSTAGE_THREE
Searching Move from Edge to Index.
@ RSIHomeStageSTAGE_FOUR
Covers motion to Zero after HomeOffsetSet has been used.
@ RSIHomeStageSTAGE_ONE
Searching Move to Find Limit. (ie Home Active)
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1263
@ RSIMotorBrakeModeDELAY
Use a brake, including programmable delays.
RSICacheObject
Caching data for GUI optimization.
Definition rsienums.h:1283
@ RSICacheObjectMotionStatus
RapidCodeMotion.
@ RSICacheObjectControlConfig
MotionController.
RSIErrorMessage
All possible RSI Error Messages.
Definition rsienums.h:17
@ RSI_SQNODE_NOT_IO_NODE
This node is not an I/O node.
@ RSI_ERROR_LOG_EMPTY
The error log is empty.
@ RSI_MOTION_DONE_WAIT_TIMEOUT
Timed out while waiting for MotionDone.
@ RSI_ERROR_MESSAGE_DYNAMIC
The text for this error will be dynamically generated in the source code.
@ RSI_CONTROLLER_INVALID_CONTROLLER_TYPE
Invalid controller type.
@ RSI_COMPENSATOR_COULD_NOT_ENABLE_ADDITIVE
The compensator could not be enabled.
@ RSI_AXIS_HOME_INVALID_HOME_SLOW_VELOCITY
Invalid Home Slow Velocity.
@ RSI_GCODE_LINE
Generic type for RSI specific G-Code errors occurring on a specific line or move.
@ RSI_CARTESIAN_PATH
Cartesian move builder exception.
@ RSI_AXIS_HOME_INVALID_POS_LIMIT_HIT
Hit Positive Limit while moving to Negative Limit.
@ RSI_AXIS_HOME_INDEX_NOT_SUPPORTED
Home Methods which require Index are only selectively supported. Contact RSI to see if we can add sup...
@ RSI_ERROR_LOG_FULL
The error log is full.
@ RSI_NOFEATURE_LICENSE
The RMP feature is not enabled.
@ RSI_COMPENSATOR_COULD_NOT_DISABLE_SINGLE
The compensator could not be disabled.
@ RSI_AXIS_FALLING_HOME_STATE_HIGH_CHECK
Failed to reach expected Home State: High. This method should only be used for Home Setups which are ...
@ RSI_METHOD_UNSUPPORTED
This method is not supported in this version.
@ RSI_AXIS_HOME_CAPTURE_ARMING_FAILED
Capture failed to arm for homing.
@ RSI_AXIS_RISING_HOME_STATE_LOW_CHECK
Failed to reach expected Home State: Low. This method should only be used for Home Setups which are H...
@ RSI_NETWORK_FIRMWARE_IS_BUSY
The network firmware is busy.
@ RSI_GCODE_SYNTAX
G-Code Syntax parsing errors.
@ RSI_AXIS_LIMIT_UNEXPECTED_STATE
Expected True and was False or vise versa.
@ RSI_IOPOINT_INVALID_OUTPUT
An output was configured as an input.
@ RSI_MATHBLOCK_INVALID
Invalid MathBlock.
@ RSI_CONTROLLER_CUSTOM_FIRMWARE_REQUIRED
Custom controller firmware required.
@ RSI_AXIS_HOME_INVALID_HOME_VELOCITY
Invalid Home Velocity.
@ RSI_AXIS_HOME_FAILED_TO_REACH_MAX_TRAVEL
Failed to reached State in specified Max Travel. Please evaluate limits or Stage's Max Travel value.
@ RSI_AXIS_HOME_INVALID_HOME_DECELERATION
Invalid Home Deceleration.
@ RSI_EXECUTOR
Exception while running the Cartesian trajectory executor.
@ RSI_STREAMING_OUTPUT_CONFIG_INVALID
The number of streaming output values must be configured with StreamingOutputCountSet before adding o...
@ RSI_AXIS_ADDRESS_TYPE_UNKNOWN
The address type requested is unknown or unsupported.
@ RSI_CONTROLLER_INVALID_CONTROLLER_NUMBER
Invalid controller number.
@ RSI_CARTESIAN_PATH_LINE
Cartesian move builder exception occurring on a specific line or move.
@ RSI_CONTROLLER_NOT_SYNC_INTERRUPT
Not the controller Sync interrupt.
@ RSI_COMPENSATOR_INVALID_AXIS_MASTER_TYPE
The compensator config was invalid.
@ RSI_GCODE
Generic type for RSI specific G-Code errors.
@ RSI_FUNCTION_NOT_SUPPORTED
This method is not currently supported.
@ RSI_AXIS_RISING_HOME_STATE_HIGH_CHECK
Failed to reach expected Home State: High. This method should only be used for Home Setups which are ...
@ RSI_AXIS_HOME_INVALID_HOME_ACCELERATION
Invalid Home Acceleration.
@ RSI_AXIS_HOME_INDEX_NOT_REACHABLE
Distance to Travel to Index (AKDs Zero Angle) is greater than Home Stage Max Travel....
@ RSI_GCODE_PARSE
Error interpreting the G-Code string.
@ RSI_COMPENSATOR_COULD_NOT_ENABLE_AXIS_ACTUAL_POSITION
The compensator could not be enabled.
@ RSI_CONTROLLER_INVALID_SERVER_NAME
Invalid server name for CLIENT controller.
@ RSI_AXIS_HOME_CANCELED
User canceled homing operation.
@ RSI_AXIS_HOME_CAPTURE_FAILED
Capture failed.
@ RSI_AXIS_HOME_INDEX_NOT_REACHED
Did not finish in IDLE state after attempting to move to Zero Angle.
@ RSI_AXIS_HOME_INVALID_NEG_LIMIT_HIT
Hit Negative Limit while moving to Positive Limit.
@ RSI_FIRMWARE_VERSION_MISMATCH
The RMP firmware and the RapidCode software versions don't match. Restart your INtime Node.
@ RSI_AXIS_HOME_FAILED_TO_REACH_DESIRED_STATE_OF_SWITCH
Homing failed to reach the desired state of a switch.
@ RSI_COMPENSATOR_POINT_COUNT_INVALID
Memory allocated for compensator not equal to required.
@ RSI_AXIS_HOME_UNEXPECTED_STATE
Expected STOPPED state but didn't reach it. Homing requires Home/Hardware Limit actions set to STOP.
@ RSI_CARTESIAN_TRAJECTORY_BUILDER
Error while trying to build the Cartesian trajectory before running it.
@ RSI_CONTROLLER_INVALID_UNHANDLED
The controller is invalid due to prior failure.
@ RSINetworkNodeMessageNODE_FAILURE
EtherCAT node failure.
@ RSI_AXIS_FALLING_HOME_STATE_LOW_CHECK
Failed to reach expected Home State: Low. This method should only be used for Home Setups which are H...
@ RSI_NETWORK_NODE_DOES_NOT_EXIST
NetworkNode object does not exist.
@ RSI_AXIS_HOME_METHOD_NOT_SUPPORTED
Home Method not (yet) supported.
RSINetworkType
Type of Network topology.
Definition rsienums.h:611
@ RSINetworkTypeRING
A Ring topology is a chain of linked Node(s) going from the Controllers Out port to the In port.
@ RSINetworkTypeSTRING
A String topology is chain of linked Node(s) to the Controller from the In or Out port.
@ RSINetworkTypeDUAL_STRING
A Dual String topology is two chained links of Node(s) to the Controller from the In and Out ports.
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1166
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1071
@ RSIAxisPositionInputSECOND
Secondary encoder.
@ RSIAxisPositionInputFIRST
Primary encoder.
RSIFilterGainIndex
Filter Gain Table enums for.
Definition rsienums.h:1148
RSINodeType
Valid Node types.
Definition rsienums.h:661
@ RSINodeTypeBECKHOFF_EL6900
Beckhoff Safety Main Device.
@ RSINodeTypeBECKHOFF_EL2521
1-channel pulse train output terminal
@ RSINodeTypePANASONIC_MINASA5
Used for all Minas A5.
@ RSINodeTypeINVALID
internal use only
@ RSINodeTypeBECKHOFF_EL6910
Beckhoff Safety Main Device.
@ RSINodeTypeLINMOT_DRIVE
Used for all Linmot drives.
@ RSINodeTypePANASONIC_MINASA6
Used for all Minas A6.
@ RSINodeTypeKOLLMORGEN_S700
S300, S400, S600, and S700s.
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:960
@ RSISourceLIMIT_SW_POS
Software Positive Limit.
@ RSISourceLIMIT_HW_NEG
Hardware Negative Limit switch.
@ RSISourceLIMIT_ERROR
Position Error Limit.
@ RSISourceUNKNOWN
Unknown error source.
@ RSISourceOUT_OF_FRAMES
Motion Out Of Frames.
@ RSISourceLIMIT_SW_NEG
Software Negative Limit.
@ RSISourceFEEDBACK_FAULT
Encoder fault.
@ RSISourceAMP_FAULT
Amp Fault.
@ RSISourceLIMIT_HW_POS
Hardware Positivie Limit switch.
RSIMotionAttrOutputType
Types for outputs during motion.
Definition rsienums.h:1046
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:835
@ RSIMotorDedicatedInINDEX_SECONDARY
Encoder Index (Secondary)
@ RSIMotorDedicatedInFEEDBACK_FAULT
Feedback Fault.
@ RSIMotorDedicatedInBRAKE_APPLIED
Brake Applied.
@ RSIMotorDedicatedInFEEDBACK_FAULT_PRIMARY
Primary Encoder Feedback Fault.
@ RSIMotorDedicatedInDRIVE_STATUS_10
Drive Status 10.
@ RSIMotorDedicatedInFEEDBACK_FAULT_SECONDARY
Secondary Encoder Feedback Fault.
@ RSIMotorDedicatedInLIMIT_HW_NEG
Hardware Negative Limit.
@ RSIMotorDedicatedInDRIVE_STATUS_9
Drive Status 9.
@ RSIMotorDedicatedInLIMIT_HW_POS
Hardware Positive Limit.
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1091
@ RSIMotorFeedbackSECONDARY
Secondary encoder.
@ RSIMotorFeedbackPRIMARY
Primary encoder.
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:857
@ RSIMotorDedicatedOutBRAKE_RELEASE
Brake Release.
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1269
@ RSIOperationModePROFILE_VELOCITY_MODE
3, pv, Profile velocity mode
@ RSIOperationModeTORQUE_PROFILE_MODE
4, tq, Torque profile mode
@ RSIOperationModeINTERPOLATED_POSITION_MODE
7, ip, Interpolated position mode
@ RSIOperationModeHOMING_MODE
6, hm, Homing mode
@ RSIOperationModeVELOCITY_MODE
2, vl, Velocity mode
@ RSIOperationModeNONE
0, Reserved/None
@ RSIOperationModeCYCLIC_SYNCHRONOUS_TORQUE_MODE
10, cst, Cyclic synchronous torque mode
@ RSIOperationModeCYCLIC_SYNCHRONOUS_POSITION_MODE
8, csp, Cyclic synchronous position mode
@ RSIOperationModeCYCLIC_SYNCHRONOUS_VELOCITY_MODE
9, csv, Cyclic synchronous velocity mode
@ RSIOperationModePROFILE_POSITION_MODE
1, pp, Profile position mode
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:991
@ RSIPathPlanTypeSCURVE
S-curve velocity profile.
@ RSIPathPlanTypeTRAPEZOIDAL
Trapezoidal velocity profile.
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1290
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1303
RSIFirmwareStatus
Status bits used in the firmware.
Definition rsienums.h:493
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:569
@ RSINetworkStartupMethodPROBE_TOPOLOGY
probe to see what is on the network
@ RSINetworkStartupMethodNETWORK_ONLY
run the network, assumes probe was done earlier
@ RSINetworkStartupMethodTEST_ENI_LOAD
eni testing mode.
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1127
@ RSIFilterGainPIVCoeffINTEGRATIONMAX_REST
Integrator Maximum (not moving)
@ RSIFilterGainPIVCoeffNOISE_FILTERFFT
Noise filter FFT.
@ RSIFilterGainPIVCoeffOUTPUT_OFFSET
Output Offset.
@ RSIFilterGainPIVCoeffINTEGRATIONMAX_MOVING
Integrator Maximum (in motion)
@ RSIFilterGainPIVCoeffOUTPUT_LIMITLOW
Output Limit (Low)
@ RSIFilterGainPIVCoeffGAINVELOCITY_INTEGRATIONMAX
Velocity Integrator Maximum.
@ RSIFilterGainPIVCoeffSMOOTHINGFILTER_GAIN
Smoothing parameter, 0 = no smoothing, 1 = infinite smoothing.
@ RSIFilterGainPIVCoeffOUTPUT_LIMITHIGH
Output Limit (High)
@ RSIStateSTOPPING
Stopping, on its way to stopped.
@ RSIStateSTOPPING_ERROR
Stopping with an error.
@ RSIStateSTOPPED
Stopped (resumable).
@ RSIStateMOVING
Moving (without any errors)
@ RSIStateIDLE
Idle, ready for anything.
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1156
@ RSIAxisMasterTypeAXIS_COMMAND_POSITION
Use command position from master.
@ RSIAxisMasterTypeAXIS_ACTUAL_POSITION
Use actual position from master.
@ RSIAxisMasterTypeMOTOR_FEEDBACK_SECONDARY
Use secondary motor encoder from master.
@ RSIAxisMasterTypeMOTOR_FEEDBACK_PRIMARY
Use primary motor encoder from master.