2#ifndef _RSI_CONSTANTS_H
3#define _RSI_CONSTANTS_H
4#include "rsiconstants.h"
RSIFilterAlgorithm
Filter algorithms.
@ RSIFilterAlgorithmUSER
User defined algorithm (custom firmware required).
@ RSIFilterAlgorithmNONE
No control algorithm.
@ RSIFilterAlgorithmPIV
PIV algorithm.
@ RSIFilterAlgorithmPIV1
PIV1 (custom firmware required).
@ RSIFilterAlgorithmPID
PID algorithm.
RSINetworkEniResult
NetworkEniGenerate return values.
@ RSINetworkEniResultDISCOVERED_ZERO_NODES
There were no nodes discovered on the network so we could not generate an ENI file.
@ RSINetworkEniResultCONFIG_NOT_DETECTED
Failed Configuration creation or 0 slaves to add to it. Did you move your ESI folder?
@ RSINetworkEniResultNODE_INFO_ERROR
Error(s) in NodeInfo.xml.
@ RSINetworkEniResultMISSING_ESI_FILES
Add ESI file with correct Vendor, Product, Revision to the ESI folder.
@ RSINetworkEniResultTOO_MANY_PDO_OUTPUTS
The ENI has too many PDO Outputs for RMP.
@ RSINetworkEniResultTOO_MANY_NODES
The ENI was generated properly but has more nodes than can be supported by the RMP.
@ RSINetworkEniResultFAILED_TO_CREATE_ENI_BUILDER
Did not create ENIBuilder internal object.
@ RSINetworkEniResultTOO_MANY_PDO_BYTES
The total size of the PDO bytes is too large for RMP.
@ RSINetworkEniResultSUCCESS
ENI file generated successfully.
@ RSINetworkEniResultUNKNOWN_FAILURE
Fall through case. Contact RSI with details about your changes to the various XMLs.
@ RSINetworkEniResultENI_FILE_ALREADY_EXISTS
Use overload which overwrites or be glad we didn't just delete your old file.
@ RSINetworkEniResultTOO_MANY_PDO_INPUTS
The ENI has too many PDO Inputs for RMP.
RSIPDOType
Compensator output types.
@ RSIPDOTypeOUTPUT
A network PDO OUTPUT.
@ RSIPDOTypeINPUT
A network PDO INPUT.
RSIMathBlockOperation
MathBlock operations.
@ 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.
@ RSIHomeMethodImprovedNEGATIVE_LIMIT
@ RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX
@ RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX
@ RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
@ RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedPOSITIVE_HARDSTOP
@ RSIHomeMethodFALLING_HOME
@ RSIHomeMethodFALLING_HOME_POSITIVE_START
@ RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodRESERVED_31
Reserved.
@ RSIHomeMethodRESERVED_16
@ RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX
@ RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodImprovedFALLING_HOME_POSITIVE_START_POITIVE_MOMENTUM
@ RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodImprovedPOSITIVE_HOME_POSITIVE_MOMENTUM
@ RSIHomeMethodImprovedPOSITIVE_LIMIT_THEN_LEFT_INDEX
@ RSIHomeMethodImprovedNEGATIVE_LIMIT_THEN_RIGHT_INDEX
@ RSIHomeMethodImprovedRESERVED_132
@ RSIHomeMethodImprovedRESERVED_131
@ RSIHomeMethodRISING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodPOSITIVE_HARDSTOP
Positive Hardstop.
@ RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodRISING_HOME
@ RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX
@ RSIHomeMethodImprovedPOSITIVE_LIMIT
@ RSIHomeMethodImprovedRISING_HOME_POSITIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodPOSITIVE_LIMIT_THEN_LEFT_INDEX
@ RSIHomeMethodImprovedPOSITIVE_INDEX
@ RSIHomeMethodImprovedRESERVED_116
@ RSIHomeMethodNEGATIVE_HARDSTOP
Negative Hardstop.
@ RSIHomeMethodImprovedNone
None.
@ RSIHomeMethodNEGATIVE_LIMIT_THEN_RIGHT_INDEX
@ RSIHomeMethodRISING_HOME_POSITIVE_START
@ RSIHomeMethodImprovedNEGATIVE_HOME_POSITIVE_MOMENTUM
@ RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX
@ RSIHomeMethodImprovedRESERVED_115
@ RSIHomeMethodImprovedFALLING_HOME_POSITIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodNEGATIVE_LIMIT
@ RSIHomeMethodRISING_HOME_NEGATIVE_START
@ RSIHomeMethodImprovedNEGATIVE_HOME_NEGATIVE_MOMENTUM
@ RSIHomeMethodImprovedCURRENT_POSITION
@ RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodRESERVED_15
@ RSIHomeMethodImprovedRISING_HOME_NEGATIVE_START_NEGATIVE_MOMENTUM
@ RSIHomeMethodINDEX_POSITIVE_START
@ RSIHomeMethodPOSITIVE_LIMIT
@ RSIHomeMethodImprovedRISING_HOME_POSITIVE_START_POSITIVE_MOMENTUM
@ RSIHomeMethodRISING_HOME_THEN_LEFT_INDEX
@ RSIHomeMethodImprovedRISING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM
@ RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
@ RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodRESERVED_32
Reserved.
@ RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX
@ RSIHomeMethodImprovedPOSITIVE_HOME_NEGATIVE_MOMENTUM
@ RSIHomeMethodCURRENT_POSITION
@ RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM
@ RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START
@ RSIHomeMethodImprovedNEGATIVE_INDEX
@ RSIHomeMethodImprovedNEGATIVE_HARDSTOP
@ RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START
@ RSIHomeMethodNONE
Set the current position to zero (home).
@ RSIHomeMethodINDEX_NEGATIVE_START
@ RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX
@ RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START
@ RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
@ RSIHomeMethodRISING_HOME_THEN_LEFT_INDEX_NEGATIVE_START
@ RSIHomeMethodFALLING_HOME_NEGATIVE_START
RSICompensatorOutputType
Compensator output types.
@ RSICompensatorOutputTypeSINGLE
Compensator output will overwrite any other compensation values.
@ RSICompensatorOutputTypeADDITIVE
Compensator output bill be added to all other compensation values.
RSINetworkStartMode
Network start modes.
@ RSINetworkStartModePREOPERATIONAL
start the network in preoperational mode
@ RSINetworkStartModeOPERATIONAL
start the network in operational mode (default)
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
@ RSIMotorFeedbackFaultPRIMARY
Feedback Fault Primary.
@ RSIMotorFeedbackFaultSECONDARY
Feedback Fault Secondary.
@ RSIMotorFeedbackFaultPRIMARY_OR_SECONDARY
Feedback Fault (Primary or Secondary).
@ RSITraceVALIDATE
Validate.
@ 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.
@ RSITraceNONE
No tracing.
@ RSITraceMEMORY_GET
Memory get.
RSIMotorStepperPulse
Pulse A or B.
RSIAxisGantryType
How to combine Axis Feedback Positions.
@ RSIAxisGantryTypeSUBTRACT
RSINetworkState
State of network.
@ 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.
@ RSINetworkStateERROR
Error.
@ RSINetworkStateOPERATIONAL
EtherCAT operational, good state.
@ RSINetworkStateSTARTING
EtherCAT is starting.
@ RSINetworkStateUNINITIALIZED
EtherCAT not yet started.
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
@ RSIControllerAddressTypeUSER_BUFFER
First location in User Buffer.
@ RSIControllerAddressTypeNETWORK_CLOCK_KD
scaling factor for clock synchronization.
@ RSIControllerAddressTypeNETWORK_CLOCK_LINUX_ADJUSTMENT_NS
correction value used by linux.
@ RSIControllerAddressTypeMATHBLOCK_PROCESS_VALUE
the processed value of a math block (must specify object index)
@ RSIControllerAddressTypeNETWORK_CLOCK_INTIME_RELOAD_VALUE
hardware ticks between Intime kernel cycles.
@ RSIControllerAddressTypeFRAME_SEND_RECEIVE_MICROSECONDS
programmable delay for packet send/receive (200 microseconds at <=1000Hz, 0 microseconds at >1000Hz,...
@ RSIControllerAddressTypeCOMPENSATOR_OUTPUT_TYPE
used to configure a compensator for single or additive output
@ RSIControllerAddressTypeNETWORK_CLOCK_REFERENCE_ERROR_NS
error as determined between Ideal timestamp and Reference Clock timestamp (includes drift and jitter)...
@ 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)....
@ RSIControllerAddressTypeNETWORK_CLOCK_FILTER_DEPTH
Filter Depth used by the clock alignment function.
@ RSIControllerAddressTypeNETWORK_CLOCK_MAX_RELOAD_VALUE_DELTA
max change to Intime Reload value per filter depth cycle.
@ RSIControllerAddressTypeNETWORK_STATUS_ACTIVE_NODE_COUNT
Number of nodes that are actually powered on and responding.
@ RSIControllerAddressTypeUSERLIMIT_STATUS
UserLimit status (must specify object index).
@ RSIControllerAddressTypeNETWORK_CLOCK_ENABLE
enable the Clock error collection feature 0 - Disabled 1 - Enabled
@ RSIControllerAddressTypeNETWORK_CLOCK_KP
scaling factor for clock synchronization.
@ RSIControllerAddressTypeFIRMWARE_NULL_INPUT
the null input value for the RMP firmware (used for restoring firmware input pointers to default)
@ RSIControllerAddressTypeSAMPLE_COUNTER
Sample Counter.
@ RSIControllerAddressTypeNETWORK_CLOCK_KI
scaling factor for clock synchronization.
@ RSIControllerAddressTypeFIRMWARE_NULL_OUTPUT
the null output value for the RMP firmware ( used for restoring firmware output pointers to default)
@ RSIControllerAddressTypeNETWORK_STATUS_SYNCHRONIZATION_ERROR_NS
Typically collected every 16 samples (nanoseconds).
@ RSIControllerAddressTypeLIMIT_ENABLED_MASK
first 32-bits of LimitEnalbedMask
@ RSIControllerAddressTypeRECORDER_BUFFER_POINTER
Pointer to the RecorderBuffer.
@ RSIControllerAddressTypeNETWORK_STATUS_CYCLIC_FRAME_PERIOD_US
Collected every sample (microseconds).
@ RSIControllerAddressTypeNETWORK_STATUS_MISSED_CYCLIC_FRAME_COUNT
Cumulative count of missed cyclic frames.
@ RSIControllerAddressTypeNETWORK_TIMING_RECEIVE_DELTA
the latest time delta between the current network packet receive time and the previous (microseconds)...
@ RSIControllerAddressTypeNETWORK_CLOCK_ADJUSTMENT_NS
adjustment value used for clock synchronization.
@ RSIControllerAddressTypeNETWORK_STATUS_AL_STATUS
Logical OR of alStatus of all nodes (8 - Good/Operational).
@ 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.
@ RSIMotorDisableActionNONE
No action taken when disabled.
@ RSIMotorDisableActionCMD_EQ_ACT
Set Command Position = Actual Position when amp is disabled.
RSIEventType
Event Types or Status Bits.
@ RSIEventTypeSQNODE_IO_FAULT
@ RSIEventTypeCONTROL_FAN
@ RSIEventTypeCONTROL_HOST_PROCESS_TIME_EXCEEDED
@ RSIEventTypeSQNODE_NODE_FAILURE
@ RSIEventTypeMOTION_AT_VELOCITY
@ RSIEventTypeNEAR_TARGET
@ RSIEventTypeSQNODE_USER_FAULT
@ RSIEventTypeRECORDER_DONE
@ RSIEventTypeMOTION_LOAD_FRAMES
@ RSIEventTypeSYNQNET_TX_FAILURE
@ RSIEventTypeSQNODE_ANALOG_POWER_FAULT
@ RSIEventTypeLIMIT_SW_POS
@ RSIEventTypeSYNQNET_RX_FAILURE
@ RSIEventTypeRECORDER_FULL
@ RSIEventTypeLIMIT_TORQUE
@ RSIEventTypeRECORDER_HIGH
@ RSIEventTypeSEQUENCE_LOAD
@ RSIEventTypeMOTION_START
@ RSIEventTypeFEEDBACK_FAULT
@ RSIEventTypeSYNQNET_RECOVERY
@ RSIEventTypeSQNODE_IO_ABORT
@ RSIEventTypeAMP_WARNING
@ RSIEventTypeMOTION_MODIFY
@ RSIEventTypeSQNODE_NODE_ALARM
@ RSIEventTypeLIMIT_SW_NEG
@ RSIEventTypeLIMIT_HW_POS
@ RSIEventTypeSYNQNET_DEAD
@ RSIEventTypeLIMIT_HW_NEG
@ RSIEventTypeSYNQNET_NODE_FAILURE
@ RSIEventTypeMOTION_OUT_OF_FRAMES
@ RSIEventTypeLIMIT_ERROR
@ RSIEventTypeSQNODE_NODE_DISABLE
@ RSIEventTypeMOTION_DONE
RSIMotionType
PT and PVT streaming motion types.
@ RSIMotionTypeBESSEL
Bessel algorithm with continuous velocity but discontinuous acceleration; smoother than PT but less s...
@ RSIMotionTypeSPLINE
Spline algorithm with continuous velocity and acceleration; velocity may be discontinuous at the end ...
@ RSIMotionTypePT
Position-Time algorithm with continuous position but discontinuous velocity. Best for short time inte...
@ RSIMotionTypeBSPLINE2
2nd-order B-Spline algorithm with continuous velocity but discontinuous acceleration; trajectory does...
@ RSIMotionTypeCONSTRAINED_SMOOTH1
(beta) acceleration constrained smoothing of PT points
@ RSIMotionTypePTF
Position-Time-Feedforward algorithm with continuous position but discontinuous velocity,...
@ RSIMotionTypePVTF
Position-Velocity-Time-Feedforward algorithm with continuous position and velocity,...
@ RSIMotionTypeBSPLINE
3rd-order B-Spline algorithm with continuous velocity and acceleration; trajectory does not pass thro...
@ RSIMotionTypePVT
Position-Velocity-Time algorithm with continuous position and velocity; acceleration and jerk are cal...
@ RSIMotionTypeCONSTRAINED_SMOOTH2
(beta) acceleration constrained smoothing of PT points
RSIDataType
Data types for User Limits and other triggers.
@ RSIDataTypeUINT32
uint32 (unsigned 32-bit integer)
@ RSIDataTypeDOUBLE
double (64-bit floating point)
@ RSIDataTypeINT64
int64 (signed 64-bit integer)
@ RSIDataTypeINVALID
invalid
@ RSIDataTypeUSHORT
ushort (unsigned 16-bit) (deprecated)
@ RSIDataTypeMASK32
32-bit bitmask
@ RSIDataTypeSHORT
short (signed 16-bit) (deprecated)
@ RSIDataTypeINT16
signed 16-bit integer
@ RSIDataTypeBOOL
bool (boolean) support for Real-Time Tasks
@ 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.
@ RSIMotorLimitTypeFEEDBACK_FAULT
@ RSIMotorLimitTypeAMP_WARNING
@ RSIMotorLimitTypeAMP_FAULT
@ RSIMotorLimitTypeHW_POS
@ RSIMotorLimitTypeSW_POS
@ RSIMotorLimitTypeHW_NEG
@ RSIMotorLimitTypeSW_NEG
@ RSIMotorLimitTypeTORQUE
RSIUserLimitLogic
Logic options for User Limits.
@ RSIUserLimitLogicNE
Not equal to.
@ RSIUserLimitLogicABS_LE
Absolute value is less than.
@ RSIUserLimitLogicGT
Greater 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.
@ RSIUserLimitLogicEQ
Equal to.
@ RSIUserLimitLogicLT
Less than.
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
@ RSIMotorIoTypeMaskPULSE_A
@ RSIMotorIoTypeMaskBRAKE
@ RSIMotorIoTypeMaskSOURCE8
@ RSIMotorIoTypeMaskCOMPARE_0
@ RSIMotorIoTypeMaskSOURCE2
@ RSIMotorIoTypeMaskPULSE_B
@ RSIMotorIoTypeMaskSSI_CLOCK1
@ RSIMotorIoTypeMaskSOURCE10
@ RSIMotorIoTypeMaskSOURCE6
@ RSIMotorIoTypeMaskSOURCE12
@ RSIMotorIoTypeMaskSOURCE14
@ RSIMotorIoTypeMaskSOURCE13
@ RSIMotorIoTypeMaskSOURCE11
@ RSIMotorIoTypeMaskCOMPARE_1
@ RSIMotorIoTypeMaskSOURCE3
@ RSIMotorIoTypeMaskSSI_CLOCK0
@ RSIMotorIoTypeMaskOUTPUT
@ RSIMotorIoTypeMaskSOURCE15
@ RSIMotorIoTypeMaskINPUT
@ RSIMotorIoTypeMaskSOURCE1
@ RSIMotorIoTypeMaskSOURCE7
@ RSIMotorIoTypeMaskSOURCE4
@ RSIMotorIoTypeMaskSOURCE5
@ RSIMotorIoTypeMaskSOURCE9
RSIAction
Action to perform on an Axis.
@ 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, Recorders, etc.
@ RSIAxisAddressTypeAXIS_LINK
Axis Link for Gantry use.
@ RSIAxisAddressTypeENCODER_SECONDARY_DELTA
Secondary Encoder position delta.
@ RSIAxisAddressTypeDEMAND_CHANNEL_THREE_OUTPUT
Motor Config Demand Output Channel 3.
@ RSIAxisAddressTypeCURRENT_FEEDRATE
Current FeedRate.
@ 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 dedicated limit status (9-bit bitmask). Bit 0: AMP_FAULT, 1: WARNING, 2: ENCODER_FAULT,...
@ RSIAxisAddressTypeTARGET_POSITION
Target Position.
@ RSIAxisAddressTypeAMP_ACTIVE_SUPPORTED
Will be automatically set true for drives which support AMP_ACTIVE (read-only).
@ RSIAxisAddressTypeMOTION_ID
The executing 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.
@ RSIAxisAddressTypeSTATUS
Per-axis status word. Bit definitions: RSIFirmwareStatus.
@ 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
The executing 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 supervisor status word. Bit definitions: RSIFirmwareStatus.
@ 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.
@ RSIProcessorTypeRMP
RSI processor (Soft Motion).
RSIMotorStepperPulseType
Stepper pulse type.
@ RSIMotorStepperPulseTypeDIR
@ RSIMotorStepperPulseTypeCW
@ RSIMotorStepperPulseTypeQUADB
@ RSIMotorStepperPulseTypeQUADA
@ RSIMotorStepperPulseTypeCCW
@ RSIMotorStepperPulseTypeSTEP
@ RSIMotorTypeSTEPPER
Stepper motor.
@ RSIMotorTypeSERVO
Servo motor.
@ RSIMotorTypePHANTOM
Phantom motor (nothing physically connected).
RSIWait
Waiting for interrupts.
@ RSIWaitPOLL
return immediately, use polling
@ RSIWaitFOREVER
Wait forever before returning.
RSIAnalogOutChannel
Analog output channels.
@ RSIAnalogOutChannelCOMMAND
@ RSIAnalogOutChannelAUXILIARY
RSINetworkStartError
Network start errors.
@ RSINetworkStartErrorNIC_PASSED
Invalid or unusable NIC/interface selection. Verify NIC name, interface state, and permissions.
@ RSINetworkStartErrorINCORRECT_ENI_FORMAT
ENI data is invalid or unreadable. Regenerate or replace the ENI file.
@ RSINetworkStartErrorETHERCAT_SAFETY_MAIN_DEVICE_NOT_DETECTED
Safety configuration was detected but no supported Safety MainDevice was found.
@ RSINetworkStartErrorMEMORY_CONFIG
Memory/configuration allocation failed during network startup. Restart and review network logs.
@ RSINetworkStartErrorENI_SAMPLE_RATE_MISMATCH
The ENI cycle time does not match the configured SampleRate. Regenerate the ENI after changing the sa...
@ RSINetworkStartErrorSLAVE_COMM_FAILED
Startup communication with one or more EtherCAT slaves failed. Verify wiring and slave health.
@ RSINetworkStartErrorFAILED_TO_READ_STATION_ALIAS
Failed to read Station Alias from a slave device. Verify slave communication stability.
@ RSINetworkStartErrorFAILED_TO_READ_PRODUCT_CODE
Failed to read Product Code from a slave device. Verify slave communication stability.
@ RSINetworkStartErrorINTIME_OPEN_ERROR
INtime open/init operation failed. Verify INtime runtime status and platform setup.
@ RSINetworkStartErrorDISCOVERED_ZERO_NODES
Discovery completed with zero nodes found. Verify topology and that slaves are powered.
@ RSINetworkStartErrorDEVICES_CONNECTED_POWERED
EtherCAT devices could not be reached. Verify cabling, power, and link status.
@ RSINetworkStartErrorCPU_AFFINITY
Linux CPU affinity is not set to a single core.
@ RSINetworkStartErrorNETWORK_INIT_FAILURE
Network startup failed after initial setup. Review network logs and configuration.
@ RSINetworkStartErrorETHERCAT_MASTER_STARTUP_ERROR
EtherCAT master failed to reach the required startup state. Check logs and network configuration.
@ RSINetworkStartErrorFAILED_TO_READ_VENDOR_ID
Failed to read Vendor ID from a slave device. Verify slave communication stability.
@ RSINetworkStartErrorFAILED_TO_READ_SERIAL_NO
Failed to read Serial Number from a slave device. Verify slave communication stability.
@ RSINetworkStartErrorNETWORK_START_OK
No startup error. Network start completed successfully.
@ RSINetworkStartErrorFAILED_TO_READ_REVISION
Failed to read Revision from a slave device. Verify slave communication stability.
@ RSINetworkStartErrorUNSUPPORTED_NODE_DETECTED
An unsupported node on the network is blocking EtherCAT startup.
@ RSINetworkStartErrorTHREAD_SCHEDULING_OR_PRIORITY
Failed to set required thread scheduling/priority. Verify RT kernel support and privileges.
@ RSINetworkStartErrorETHERCAT_SAFETY_NOT_LICENSED
Safety configuration was detected but the required safety license is not present.
@ RSINetworkStartErrorGENERAL_DISCOVERY_FAILURE
Discovery failed for an unspecified reason. Check network logs and retry discovery/start.
@ RSINetworkStartErrorINTERNAL_RMP_ERROR
Internal controller/runtime error occurred while starting the network. Restart and collect logs.
RSIMotorGeneralIo
Motor I/O bit numbers.
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
@ RSIMotionAttrMaskAUTOSTART_NOTIFY
@ RSIMotionAttrMaskOUTPUT
Sets or clear bits after the move.
@ RSIMotionAttrMaskNO_INTERRUPT_ENABLE
Skip the InterruptEnableSet() in MovePT() and MovePVT() when motion is starting.
@ RSIMotionAttrMaskELEMENT_ID
(Default)
@ RSIMotionAttrMaskAUTO_START
Auto Start.
@ 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.
@ RSIMotionAttrMaskFINAL_VEL
Final Vel.
@ RSIMotionAttrMaskID
(Default)
@ RSIMotionAttrMaskREPEAT
Repeat.
@ RSIMotionAttrMaskEXPECTED_AXES
@ RSIMotionAttrMaskRETAIN
@ RSIMotionAttrMaskDELAY
Inserts a pause before the beginning of the move. MotionDelaySet contains the length of the delay.
@ RSIMotionAttrMaskLOW_COUNT
@ 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.
@ RSIMotionAttrMaskEMPTY_COUNT
(Default)
@ RSIMotionAttrMaskEVENT
Event.
@ RSIMotionAttrMaskMASTER_START
Master Start.
@ RSIMotionAttrMaskNO_BACKTRACK_HOLD
No Backtrack Hold.
@ RSIMotionAttrMaskBEHAVIOR
(Default)
@ RSIMotionAttrMaskSYNC_END
Synchronize end of motion for all axes.
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
@ RSIMultiAxisAddressTypeTARGET_FEEDRATE
Target FeedRate.
@ RSIMultiAxisAddressTypeCURRENT_FEEDRATE
Current FeedRate.
@ RSIMultiAxisAddressTypeMOTION_STATUS
Motion supervisor status word. Bit definitions: RSIFirmwareStatus.
RSIFilterGainPIDCoeff
PID gain coefficients.
@ RSIFilterGainPIDCoeffOUTPUT_LIMITHIGH
Output Limit (High).
@ RSIFilterGainPIDCoeffGAIN_INTEGRAL
Ki.
@ RSIFilterGainPIDCoeffFEEDFORWARD_POSITION
Pff.
@ RSIFilterGainPIDCoeffDRATE
Derivative sub-sampling rate.
@ RSIFilterGainPIDCoeffUNUSED
Unused.
@ RSIFilterGainPIDCoeffFEEDFORWARD_VELOCITY
Vff.
@ RSIFilterGainPIDCoeffOUTPUT_LIMITLOW
Output Limit (Low).
@ RSIFilterGainPIDCoeffOUTPUT_OFFSET
Output Offset.
@ RSIFilterGainPIDCoeffGAIN_DERIVATIVE
Kd.
@ RSIFilterGainPIDCoeffINTEGRATIONMAX_MOVING
Integrator Maximum (in motion).
@ RSIFilterGainPIDCoeffOUTPUT_VELOCITYLIMITHIGH
Output Limit (High).
@ RSIFilterGainPIDCoeffINTEGRATIONMAX_REST
Integrator Maximum (not moving).
@ RSIFilterGainPIDCoeffFEEDFORWARD_ACCELERATION
Aff.
@ RSIFilterGainPIDCoeffNOISE_POSITIONFFT
Noise position FFT.
@ RSIFilterGainPIDCoeffOUTPUT_VELOCITYLIMITLOW
Output Limit (Low).
@ RSIFilterGainPIDCoeffFEEDFORWARD_FRICTION
Fff.
@ RSIFilterGainPIDCoeffGAIN_PROPORTIONAL
Kp.
RSIUserLimitTriggerType
Trigger types for UserLimits.
@ 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.
@ RSIUserLimitTriggerTypeINVALID
@ 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.
@ 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.
@ 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.
@ INtimeStatusUnknownError
@ INtimeStatusNotInstalled
RSIMotionHoldType
Types for MotionHold attribute.
@ RSIMotionHoldTypeMOTOR_DEDICATED_IN
@ RSIMotionHoldTypeAXIS_COMMAND_POSITION
@ RSIMotionHoldTypeCUSTOM
@ RSIMotionHoldTypeMOTOR_DEDICATED_OUT
@ RSIMotionHoldTypeMOTOR_GENERAL_OUT
@ RSIMotionHoldTypeMOTOR_GENERAL_IN
@ RSIMotionHoldTypeAXIS_ACTUAL_POSITION
RSIControllerType
Controller type.
@ RSIControllerTypeSOFTWARE
@ RSIControllerTypeCLIENT
Client - TCP/IP networked.
@ RSIControllerTypeSIMULATION
@ RSIControllerTypeUNINITIALIZED
@ RSIControllerTypeINVALID_ID
RSIMotorFaultMask
Mask values for several motor faults.
@ RSIMotorFaultMaskWATCHDOG
Watchdog.
@ RSIMotorFaultMaskAMP
Amp.
@ RSIMotorFaultMaskCHECKSUM
Checksum.
@ RSIMotorFaultMaskDRIVE
Drive.
@ RSIMotorFaultMaskAMP_NOT_POWERED
Not powered.
@ RSIMotorFaultMaskFEEDBACK_FAULT_SECONDARY
Secondary feedback.
@ RSIMotorFaultMaskFEEDBACK
Feedback.
@ RSIMotorFaultMaskDRIVE_NOT_READY
Not ready.
RSIHomeStage
Predefined Homing Stage sections.
@ 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.
@ RSIMotorBrakeModeNONE
Use no brake.
@ RSIMotorBrakeModeDELAY
Use a brake, including programmable delays.
RSICacheObject
Caching data for GUI optimization.
@ RSICacheObjectMotionStatus
RapidCodeMotion.
@ RSICacheObjectControlConfig
MotionController.
@ RSICacheObjectMotorStatus
Axis.
RSIErrorMessage
All possible RSI Error Messages.
@ RSIPlatformMessageINTIME_NOT_STARTED
@ RSI_SQNODE_NOT_IO_NODE
This node is not an I/O node.
@ RSIPlatformMessageINTIME_VERSION_UNSUPPORTED
@ RSI_ERROR_LOG_EMPTY
The error log is empty.
@ RSIListMessageELEMENT_NOT_FOUND
@ RSIGeometricPathMessageILLEGAL_VELOCITY
@ RSIMotorMessageDEMAND_MODE_UNSUPPORTED
@ 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.
@ RSIControlMessageRECORDER_COUNT_INVALID
@ RSIGeometricPathMessageILLEGAL_ACCELERATION
@ RSICompensatorMessageCOMPENSATOR_INVALID
@ RSIMessageFILE_CLOSE_ERROR
@ RSIControlMessageRECORDER_RUNNING
@ RSIRecorderMessageNOT_CONFIGURED
@ RSIMotionMessagePROFILE_NOT_SUPPORTED
@ RSIControlMessageFLASH_INVALID
@ RSI_CONTROLLER_INVALID_CONTROLLER_TYPE
Invalid controller type.
@ RSIMotionMessageAXIS_FRAME_COUNT
@ RSIGeometricPathMessageILLEGAL_TIMESLICE
@ RSI_INVALID_ID
Invalid RSI ID.
@ RSICaptureMessageUNSUPPORTED_SECONDARY
@ RSI_COMPENSATOR_COULD_NOT_ENABLE_ADDITIVE
The compensator could not be enabled.
@ RSIPlatformMessageINTIME_NODE_DOES_NOT_EXIST
@ RSIControlMessageEXTERNAL_MEMORY_OVERFLOW
@ RSI_AXIS_HOME_INVALID_HOME_SLOW_VELOCITY
Invalid Home Slow Velocity.
@ RSIControlMessageFIRMWARE_VERSION
@ RSIMessagePARAM_INVALID
@ RSIFilterMessageINVALID_ALGORITHM
@ RSIControlMessageBACKGROUND_STARVATION
@ RSIPacketMessageADDRESS_INVALID
@ RSI_GCODE_LINE
Generic type for RSI specific G-Code errors occurring on a specific line or move.
@ RSIMotionMessageFRAMES_LOW
@ RSIControlMessageFIRMWARE_VERSION_NONE
@ RSIMotionMessageRESERVED1
@ RSI_CARTESIAN_PATH
Cartesian move builder exception.
@ RSI_AXIS_HOME_INVALID_POS_LIMIT_HIT
Hit Positive Limit while moving to Negative Limit.
@ RSIPlatformMessageFILE_TYPE_INVALID
@ RSICommandMessageTYPE_INVALID
@ RSIControlMessageCAPTURE_COUNT_INVALID
@ RSIGeometricPathMessageILLEGAL_ELEMENT
@ RSIControlMessagePRE_FILTER_DELAY_COUNT_INVALID
@ RSI_AXIS_HOME_INDEX_NOT_SUPPORTED
Home Methods which require Index are only selectively supported. Contact RSI to see if we can add sup...
@ RSIPlatformMessageDEVICE_INVALID
@ RSI_ERROR_LOG_FULL
The error log is full.
@ RSICompensatorMessageAXIS_NOT_ENABLED
@ RSIControlMessageIO_BIT_INVALID
@ RSIPacketMessageCOMM_ERROR
@ RSICaptureMessageINVALID_EDGE
@ RSIPlatformMessageUSER_IS_NOT_ADMIN
@ RSIMotorMessageDEMAND_MODE_NOT_SET
@ RSIMotionMessageTYPE_INVALID
@ RSIMotorMessagePHASE_FINDING_FAILED
@ RSICaptureMessageCAPTURE_INVALID
@ RSILicenseMessageNOAXIS
@ RSINotifyMessageWAIT_IN_PROGRESS
@ RSIMessageFILE_OPEN_ERROR
@ RSIMotionMessageSTOPPED
@ RSICaptureMessageCAPTURE_STATE_INVALID
@ RSI_NOFEATURE_LICENSE
The RMP feature is not enabled.
@ RSI_COMPENSATOR_COULD_NOT_DISABLE_SINGLE
The compensator could not be disabled.
@ RSIGeometricPathMessageILLEGAL_DIMENSION
@ 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.
@ RSIGeometricPathMessageARC_ILLEGAL_DIMENSION
@ RSIControlMessageFLASH_SYNQNET_STATE_INVALID
@ RSIMotionMessageFRAMES_EMPTY
@ RSIElementMessageELEMENT_INVALID
@ 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...
@ RSIMotorMessageSECONDARY_FEEDBACK_NA
@ RSIClientMessageMETHOD_INVALID
@ RSIControlMessageFLASH_WRITE_ERROR
@ RSIThreadMessageTHREAD_RUNNING
@ RSIMessageHANDLE_INVALID
@ RSI_NETWORK_FIRMWARE_IS_BUSY
The network firmware is busy.
@ RSIPlatformMessageDRIVER_VERSION_INCOMPATIBLE
@ RSIGeometricPathMessagePATH_TOO_LONG
@ RSI_GCODE_SYNTAX
G-Code Syntax parsing errors.
@ RSIMotionMessagePATH_ERROR
@ RSI_AXIS_LIMIT_UNEXPECTED_STATE
Expected True and was False or vise versa.
@ RSICompensatorMessageDIMENSION_NOT_SUPPORTED
@ RSIPlatformMessageDEVICE_ERROR
@ RSIMotionMessageILLEGAL_DELAY
@ RSI_IOPOINT_INVALID_OUTPUT
An output was configured as an input.
@ RSIControlMessageCOMPENSATOR_COUNT_INVALID
@ RSIClientMessageRSICONSTANT_INCOMPATIBLE
@ RSIMotionMessageAXIS_MOVING
@ RSIMotorMessageMOTOR_NOT_ENABLED
@ RSIPlatformMessagePLATFORM_INVALID
@ RSI_MATHBLOCK_INVALID
Invalid MathBlock.
@ RSIControlMessageCONTROL_NUMBER_INVALID
@ RSIControlMessageOBJECT_INVALID
@ RSIFilterMessageINVALID_SMOOTHING
@ RSIControlMessageINTERNAL_MEMORY_OVERFLOW
@ RSI_CONTROLLER_CUSTOM_FIRMWARE_REQUIRED
Custom controller firmware required.
@ RSIPlatformMessageRSI_LICENSE_INVALID
@ RSIControlMessageNO_FPGA_SOCKET
@ RSIControlMessageMOTOR_COUNT_INVALID
@ RSIRecorderMessageNOT_RESERVED
@ RSILicenseMessageEXPIRED
@ RSIClientMessageHEADER_INVALID
@ RSI_AXIS_HOME_INVALID_HOME_VELOCITY
Invalid Home Velocity.
@ RSIServerMessageMETHOD_INVALID
@ RSIMotorMessageSTEPPER_NA
@ RSIFilterMessageFILTER_INVALID
@ RSIMotorMessagePULSE_WIDTH_INVALID
@ RSIControlMessageINTERRUPTS_DISABLED
@ RSIThreadMessageTHREAD_NOT_RUNNING
@ RSIControlMessageSEQUENCE_COUNT_INVALID
@ 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.
@ RSIMotorMessageHARDWARE_NOT_FOUND
@ RSIMotionMessageATTRIBUTE_INVALID
@ RSIMotorMessageFEEDBACK_REVERSAL_NA
@ RSIMapMessageNAME_INVALID
@ RSIThreadMessageTHREAD_NOT_STARTED
@ RSILicenseMessageCONTROL_TYPE_FILE
@ RSIMotionMessageSTOPPING
@ RSIControlMessageLIMIT_BLOCK_COUNT_INVALID
@ RSI_AXIS_HOME_INVALID_HOME_DECELERATION
Invalid Home Deceleration.
@ RSIMessageOBJECT_IN_USE
@ 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...
@ RSIControlMessageLIBRARY_VERSION
@ RSI_AXIS_ADDRESS_TYPE_UNKNOWN
The address type requested is unknown or unsupported.
@ RSIPlatformMessageINSTALL_VARIABLE_NOT_SET
@ RSIFilterMessageINVALID_DRATE
@ RSI_CONTROLLER_INVALID_CONTROLLER_NUMBER
Invalid controller number.
@ RSIMessageFILE_READ_ERROR
@ RSI_CARTESIAN_PATH_LINE
Cartesian move builder exception occurring on a specific line or move.
@ RSIMotorMessagePOSITION_FEEDBACK_OFFSET_SET_FAILED
@ RSIMapMessageFILE_INVALID
@ RSI_CONTROLLER_NOT_SYNC_INTERRUPT
Not the controller Sync interrupt.
@ RSIGeometricPathMessageILLEGAL_RADIUS
@ RSIControlMessageBUFFER_TOO_SMALL
@ RSI_COMPENSATOR_INVALID_AXIS_MASTER_TYPE
The compensator config was invalid.
@ RSI_GCODE
Generic type for RSI specific G-Code errors.
@ RSIRecorderMessageNO_RECORDERS_AVAIL
@ RSIControlMessageAXIS_COUNT_INVALID
@ RSILicenseMessageUNLICENSED
@ RSIMotionMessageAXIS_COUNT
@ RSI_FUNCTION_NOT_SUPPORTED
This method is not currently supported.
@ RSIControlMessageSAMPLE_RATE_TO_HIGH
@ RSICompensatorMessageTABLE_SIZE_ERROR
@ 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 ...
@ RSIMapMessageNAME_NOT_FOUND
@ 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....
@ RSIMotionMessageAUTO_START
@ RSIMotionMessageSTOPPING_ERROR
@ RSIMotionMessageBAD_PATH_DATA
@ RSILicenseMessageNOFEATURE
@ RSICompensatorMessageNOT_ENABLED
@ RSIControlMessageMATH_BLOCK_COUNT_INVALID
@ RSI_GCODE_PARSE
Error interpreting the G-Code string.
@ RSI_COMPENSATOR_COULD_NOT_ENABLE_AXIS_ACTUAL_POSITION
The compensator could not be enabled.
@ RSIMessageFILE_WRITE_ERROR
@ RSIFilterMessageCONVERSION_DIV_BY_0
@ RSIClientMessageSERVER_INCOMPATIBLE
@ RSIMotionMessageRESERVED0
@ RSIControlMessagePACK_ALIGNMENT
@ RSIClientMessageSERVER_INACCESSIBLE
@ RSIMessageOBJECT_NOT_FOUND
@ RSI_CONTROLLER_INVALID_SERVER_NAME
Invalid server name for CLIENT controller.
@ RSIMotionMessageNO_AXES_MAPPED
@ RSIControlMessageFILTER_COUNT_INVALID
@ RSIRecorderMessageSTARTED
@ RSIControlMessageMOTION_COUNT_INVALID
@ RSIControlMessageFLASH_VERIFY_ERROR
@ RSIMapMessageINDEX_INVALID
@ RSIRecorderMessageRECORD_COUNT_INVALID
@ RSICaptureMessageCAPTURE_TYPE_INVALID
@ RSIMessageOBJECT_ON_LIST
@ RSIMessageASSERT_FAILURE
@ RSIControlMessageEVENTS_LOST
@ RSIControlMessageTYPE_INVALID
@ RSI_AXIS_HOME_CANCELED
User canceled homing operation.
@ RSIRecorderMessageNOT_ENABLED
@ RSIMotionMessageRESERVED2
@ RSI_AXIS_HOME_CAPTURE_FAILED
Capture failed.
@ RSI_AMP_ENABLE_RESTRICTED_STATE
Failed attempt to enable amplifier in a restricted state (MOVING, STOPPING, STOPPED) see RapidCodeMot...
@ RSIControlMessageFILE_INACCESSIBLE
@ RSIMotionMessageAXIS_MAP_MISMATCH
@ RSIControlMessageCONTROL_INVALID
@ RSICaptureMessageMOTOR_INVALID
@ RSIPlatformMessageDEVICE_MAP_ERROR
@ RSIControlMessageAXIS_RUNNING
@ RSI_AXIS_HOME_INDEX_NOT_REACHED
Did not finish in IDLE state after attempting to move to Zero Angle.
@ RSIPlatformMessageRMP_NOT_STARTED
@ RSICompensatorMessagePOSITION_DELTA_INVALID
@ RSIFilterMessageINVALID_FILTER_FORM
@ RSILicenseMessageNO_APP_LICENSE
@ RSIFilterMessageSECTION_NOT_ENABLED
@ RSIAxisMessageCOMMAND_NOT_SET
@ RSI_AXIS_HOME_INVALID_NEG_LIMIT_HIT
Hit Negative Limit while moving to Positive Limit.
@ RSIRecorderMessageRESERVED
@ RSIMessageOBJECT_NOT_ENABLED
@ RSIServerMessageHEADER_INVALID
@ RSIMotorMessagePOSITION_FEEDBACK_OFFSET_UNINITIALIZED
@ RSILicenseMessageNOT_VALID
@ RSICaptureMessageUNSUPPORTED_PRIMARY
@ RSIPlatformMessagePATH_DOES_NOT_EXIST
@ RSIUserLimitMessageUSER_LIMIT_INVALID
@ 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.
@ RSIMotorMessageDISABLE_ACTION_INVALID
@ RSIMotionMessageMOTION_INVALID
@ RSICaptureMessageCAPTURE_NOT_ENABLED
@ RSIMotionMessagePROFILE_ERROR
@ RSIPacketMessageCONNECTION_CLOSED
@ RSIMotorMessageSTEPPER_INVALID
@ RSIMapMessageSYMBOL_NOT_FOUND
@ RSIListMessageELEMENT_INVALID
@ RSIPlatformMessageFILE_VERSION
@ RSIPlatformMessagePATH_IS_NOT_A_DIRECTORY
@ RSICaptureMessageFEEDBACK_INVALID
@ RSIMotorMessagePOSITION_FEEDBACK_OFFSET_UNSUPPORTED
@ RSIRecorderMessageRUNNING
@ RSIMapMessageSYMBOL_INVALID
@ RSIRecorderMessageSTOPPED
@ RSI_COMPENSATOR_POINT_COUNT_INVALID
Memory allocated for compensator not equal to required.
@ RSIControlMessageFIRMWARE_INVALID
@ RSIControlMessageOBJECT_INDEX_INVALID
@ RSIGeometricPathMessageUNSUPPORTED_TYPE
@ RSI_AXIS_HOME_UNEXPECTED_STATE
Expected STOPPED state but didn't reach it. Homing requires Home/Hardware Limit actions set to STOP.
@ RSIPlatformMessageRSI_LICENSE_NOT_FOUND
@ RSI_CARTESIAN_TRAJECTORY_BUILDER
Error while trying to build the Cartesian trajectory before running it.
@ RSIPlatformMessageCOPY64_FAILURE
@ RSIControlMessageAXIS_FRAME_COUNT_INVALID
@ RSIAxisMessageAXIS_INVALID
@ 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_CARTESIAN_ROBOT
Robot errors.
@ RSICompensatorMessageNOT_CONFIGURED
@ RSIEventMessageEVENT_INVALID
@ RSIMotorMessageMOTOR_INVALID
@ RSIMotorMessageTYPE_INVALID
@ RSICaptureMessageCAPTURE_ARMED
@ RSIPlatformMessageRSI_USB_SERIAL_NOT_FOUND
@ RSI_NETWORK_NODE_DOES_NOT_EXIST
NetworkNode object does not exist.
@ RSIControlMessageSAMPLE_RATE_TO_LOW
@ RSIControlMessageTX_TIME_INVALID
@ RSIMessageFILE_MISMATCH
@ RSIControlMessageSYNQNET_STATE
@ RSI_AXIS_HOME_METHOD_NOT_SUPPORTED
Home Method not (yet) supported.
@ RSIAxisMessageNOT_MAPPED_TO_MS
@ RSIMotionMessageFRAME_BUFFER_OVERRUN
RSINetworkType
Type of Network topology.
@ 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.
@ RSIMotorIoTypeCOMPARE_1
@ RSIMotorIoTypeSSI_CLOCK0
@ RSIMotorIoTypeCOMPARE_0
@ RSIMotorIoTypeSSI_CLOCK1
RSIAxisPositionInput
Feedback Positions for each Axis.
@ RSIAxisPositionInputSECOND
Secondary encoder.
@ RSIAxisPositionInputFIRST
Primary encoder.
RSIFilterGainIndex
Filter Gain Table enums for.
@ RSIFilterGainIndexVELOCITY
@ RSIFilterGainIndexNO_MOTION
@ RSIFilterGainIndexDECEL
@ RSIFilterGainIndexACCEL
RSINodeType
Valid Node types.
@ RSINodeTypeSCHNEIDER_ILA
@ RSINodeTypeFASTECH_ETHERCAT_MINI
@ RSINodeTypeYASKAWA_SGDXT
Yaskawa Sigma-X triple axis drive.
@ RSINodeTypeBECKHOFF_EL1088
@ RSINodeTypeBECKHOFF_EL3104
@ RSINodeTypeFASTECH_ETHERCAT_I8O8
@ RSINodeTypeKOLLMORGEN_AKD2G_1AXIS_SIL3_ADV
@ RSINodeTypeLEADSHINE_CS3E
@ RSINodeTypeNEXCOM_NEIO1812
@ RSINodeTypeINOVANCE_SV660N
@ RSINodeTypeOMRON_1SN08H
@ RSINodeTypeAMC_DIGIFLEX2
@ RSINodeTypeMITSUBISHI_MR_J5_TM
@ RSINodeTypeFASTECH_ETHERCAT_TO
@ RSINodeTypeKOLLMORGEN_AKD2G_2AXIS
@ RSINodeTypeOMRON_1SN30F
@ RSINodeTypeNODKA_AX1316
@ RSINodeTypePARKER_FL20C
@ RSINodeTypeMOONS_M52S_EC
@ RSINodeTypeBECKHOFF_EP3184
@ RSINodeTypeBECKHOFF_EL1008
@ RSINodeTypeBECKHOFF_EP4378
@ RSINodeTypeORIENTAL_NETC01
@ RSINodeTypeMOONS_STF2X_EC
@ RSINodeTypeMOONS_STF06_EC
@ RSINodeTypeOMRON_1SN10F
@ RSINodeTypeFASTECH_ETHERCAT
@ RSINodeTypeESTUN_PRONET
@ RSINodeTypeOMRON_1SN15H
@ RSINodeTypeBECKHOFF_EL7041
@ RSINodeTypeLINMOT_C1250_MIDS_XC_0S
@ RSINodeTypeBECKHOFF_EK1100
@ RSINodeTypeCREVIS_GL9086
@ RSINodeTypeKOLLMORGEN_AKD2G_1AXIS
@ RSINodeTypeALICAT_MASS_FLOW_CONTROLLER
@ RSINodeTypeBECKHOFF_EK1101
@ RSINodeTypeOPTOFORCE_SENSOR
@ RSINodeTypeDELTA_ASDA_A3
@ RSINodeTypeCONTROLTECHNIQUES_753
@ RSINodeTypeFASTECH_ETHERCAT_DA04
@ RSINodeTypeBECKHOFF_EJ4002
@ RSINodeTypeKOLLMORGEN_AKD2G_2AXIS_SIL3_BASIC
@ RSINodeTypeICP_ECAT2055
@ RSINodeTypeBONFIGLIOLI_ACU540
@ RSINodeTypeNODKA_AX1010
@ RSINodeTypeTPM_SRV_K221
@ RSINodeTypeNODKA_AX1026
@ RSINodeTypeODEAR_DSEX16Y16L_MW
@ RSINodeTypeBECKHOFF_EK1310
@ RSINodeTypeYASKAWA_SGDXW
Yaskawa Sigma-X dual axis drive.
@ RSINodeTypeAMC_DIGIFLEX3
@ RSINodeTypeDELTA_ASDA_B3
@ RSINodeTypeSYNAPTICON_SOMANET_INTEGRO
@ RSINodeTypeOMRON_1SN06F
@ RSINodeTypeSERVOTRONIX_FLEXIPRO
@ RSINodeTypeYASKAWA_A1000
@ RSINodeTypeKEYENCE_NUEC1
@ RSINodeTypeLENZE_I700_SINGLE
@ RSINodeTypeSICK_FLEXI_SOFT_SAFETY
@ RSINodeTypeMOONS_MDX_EC
@ RSINodeTypeOMRON_1SN02H
@ RSINodeTypeNODKA_AX1023
@ RSINodeTypeBECKHOFF_EL4102
@ RSINodeTypeOMRON_1SN01L
@ RSINodeTypeNODKA_AX1313
@ RSINodeTypeBONFIGLIOLI_AGILE
@ RSINodeTypeBECKHOFF_EL2022
@ RSINodeTypeOMRON_1SN04L
@ RSINodeTypeSANYODENKI_RS3
@ RSINodeTypeBECKHOFF_EL4032
@ RSINodeTypeBECKHOFF_EL6900
Beckhoff Safety Main Device.
@ RSINodeTypeJENNYSCIENCE_XENAX_XVI48V8
@ RSINodeTypeBECKHOFF_EL2904
@ RSINodeTypeKOLLMORGEN_AKD2G_1AXIS_SIL3_BASIC
@ RSINodeTypeBECKHOFF_BK1120
@ RSINodeTypeSCHNEIDER_LXM32M
@ RSINodeTypeBECKHOFF_EL2521
1-channel pulse train output terminal
@ RSINodeTypeFASTECH_ETHERCAT_AD08
@ RSINodeTypeOMRON_1SN10H
@ RSINodeTypeOMRON_1SN01H
@ RSINodeTypeYASKAWA_SGDXS
Yaskawa Sigma-X single axis drive.
@ RSINodeTypeBECKHOFF_EPP2338
@ RSINodeTypeOMRON_1SN02L
@ RSINodeTypeMOONS_SSDC06_EC
@ RSINodeTypeMPC_FLEXIPRO
@ RSINodeTypePANASONIC_MINASA5
Used for all Minas A5.
@ RSINodeTypeLEADSHINE_L7EC
@ RSINodeTypeBECKHOFF_EL1918
@ RSINodeTypeLEADSHINE_DM3E
@ RSINodeTypeINVALID
internal use only
@ RSINodeTypeCREVIS_NA9286
@ RSINodeTypeABB_MICROFLEX
@ RSINodeTypeYASKAWA_SGD7S
@ RSINodeTypeBECKHOFF_EL6910
Beckhoff Safety Main Device.
@ RSINodeTypeKOLLMORGEN_AKD
@ RSINodeTypeBECKHOFF_EL2634
@ RSINodeTypeGABLE_SE680_E
@ RSINodeTypeNIKKIDENSO_NCR_HD
@ RSINodeTypeLINMOT_DRIVE
Linmot drives.
@ RSINodeTypeNODKA_AX1326
@ RSINodeTypeOMRON_1SN30H
@ RSINodeTypeJENNYSCIENCE_XENAX
@ RSINodeTypeAMC_DIGIFLEX
@ RSINodeTypeNODKA_AX1310
@ RSINodeTypeELMO_PLATINUM
@ RSINodeTypeTECHNOSOFT_IPOS8015
@ RSINodeTypeNIMOTION_PMM
@ RSINodeTypeBECKHOFF_EP7041
@ RSINodeTypeNODKA_AX1320
@ RSINodeTypeMITSUBISHI_MR_JET
@ RSINodeTypeLENZE_I700_DOUBLE
@ RSINodeTypeOMRON_1SN20F
@ RSINodeTypeYASKAWA_SGDV
@ RSINodeTypeOMRON_1SN04H
@ RSINodeTypeHANS_DMODULE
@ RSINodeTypeBECKHOFF_EJ2889
@ RSINodeTypePANASONIC_MINASA6
Used for all Minas A6.
@ RSINodeTypeBECKHOFF_EL2008
@ RSINodeTypeFASTECH_ETHERCAT_ALL
@ RSINodeTypeINGENIA_CAPITAN_XCR
@ RSINodeTypeOMRON_1SN15F
@ RSINodeTypeCKD_ECMG_CNNN30
@ RSINodeTypeSCHNEIDER_LXM28E
@ RSINodeTypeNODKA_AX1013
@ RSINodeTypeCKD_ECR_MNNN3B_EC
@ RSINodeTypeFASTECH_ETHERCAT_I16O16
@ RSINodeTypeBECKHOFF_EL2624
@ RSINodeTypeKOLLMORGEN_AKD2G_2AXIS_SIL3_ADV
@ RSINodeTypeKOLLMORGEN_S700
S300, S400, S600, and S700s.
@ RSINodeTypeMITSUBISHI_MR_J4_TM
@ RSINodeTypeKOLLMORGEN_AKT
@ RSINodeTypeYASKAWA_GA700
@ RSINodeTypeBECKHOFF_EPP2316
@ RSINodeTypeMITSUBISHI_MR_J5W2
@ RSINodeTypeMOONS_M54S_EC
@ RSINodeTypeMOONS_STF4X_EC
@ RSINodeTypeBECKHOFF_EJ3004
@ RSINodeTypeBECKHOFF_EP2338
@ RSINodeTypeNODKA_AX1020
@ RSINodeTypeMOONS_M56S_EC
@ RSINodeTypeBECKHOFF_EJ1100
@ RSINodeTypeNODKA_AX1016
@ RSINodeTypeMOONS_M3E_EC
@ RSINodeTypeMOONS_M3R5_EC
@ RSINodeTypeBECKHOFF_EJ1889
@ RSINodeTypeBECKHOFF_EL1904
@ RSINodeTypeBECKHOFF_EL4022
@ RSINodeTypeBECKHOFF_EL3002
@ RSINodeTypeKOLLMORGEN_AKD_C
@ RSINodeTypeNODKA_AX1323
@ RSINodeTypeMOONS_MROBOT_EC
@ RSINodeTypeBECKHOFF_EL1054
@ RSINodeTypeOMRON_1SN20H
@ RSINodeTypeMOONS_MBDV_EC
@ RSINodeTypeMOONS_MBDV_02_EC
@ RSINodeTypeTPM_STP_K121
@ RSINodeTypeAMC_DIGIFLEX4
@ RSINodeTypeKOLLMORGEN_AKD_N
@ RSINodeTypeCREVIS_GN9386
RSISource
Possible sources that have caused an Error state.
@ 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.
@ RSIMotionAttrOutputTypeNONE
@ RSIMotionAttrOutputTypeOUTPUT
Output.
@ RSIMotionAttrOutputTypeMOTOR
Motor.
RSIMotorDedicatedIn
Dedicated Input bits per motor.
@ RSIMotorDedicatedInINDEX_SECONDARY
Encoder Index (Secondary).
@ RSIMotorDedicatedInHALL_B
Hall Sensor B.
@ RSIMotorDedicatedInFEEDBACK_FAULT
Feedback Fault.
@ RSIMotorDedicatedInWARNING
Warning.
@ RSIMotorDedicatedInBRAKE_APPLIED
Brake Applied.
@ RSIMotorDedicatedInHOME
Home.
@ RSIMotorDedicatedInFEEDBACK_FAULT_PRIMARY
Primary Encoder Feedback Fault.
@ RSIMotorDedicatedInCAPTURED
Captured.
@ RSIMotorDedicatedInINDEX
Encoder Index.
@ RSIMotorDedicatedInDRIVE_STATUS_10
Drive Status 10.
@ RSIMotorDedicatedInAMP_ACTIVE
Amp Active.
@ RSIMotorDedicatedInHALL_A
Hall Sensor A.
@ RSIMotorDedicatedInFEEDBACK_FAULT_SECONDARY
Secondary Encoder Feedback Fault.
@ RSIMotorDedicatedInLIMIT_HW_NEG
Hardware Negative Limit.
@ RSIMotorDedicatedInDRIVE_STATUS_9
Drive Status 9.
@ RSIMotorDedicatedInHALL_C
Hall Sensor C.
@ RSIMotorDedicatedInAMP_FAULT
Amp Fault.
@ RSIMotorDedicatedInLIMIT_HW_POS
Hardware Positive Limit.
RSIMotorFeedback
Encoders per motor.
@ RSIMotorFeedbackSECONDARY
Secondary encoder.
@ RSIMotorFeedbackPRIMARY
Primary encoder.
RSIMotorDedicatedOut
Dedicated Output bits per motor.
@ RSIMotorDedicatedOutBRAKE_RELEASE
Brake Release.
@ RSIMotorDedicatedOutAMP_ENABLE
Amp Enable.
RSIOperationMode
DS402 modes of operation.
@ 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.
@ RSIPathPlanTypeSCURVE
S-curve velocity profile.
@ RSIPathPlanTypeTRAPEZOIDAL
Trapezoidal velocity profile.
RSINetworkTechnologyType
Network technology type.
@ RSINetworkTechnologyTypeETHERCAT
EtherCAT.
RSINetworkIndexType
Network PDO index types for configuring axis input/output mappings.
@ NetworkIndexTypeVELOCITY_DEMAND_INDEX
Target Velocity (DS402 0x60FF) - 32-bit velocity setpoint in counts/sample.
@ NetworkIndexTypeANALOG_INPUT_INDEX
Analog Input - 16/32-bit analog sensor value (vendor-specific).
@ NetworkIndexTypeAUX_POSITION_FEEDBACK_INDEX
Auxiliary Encoder - 32-bit secondary encoder feedback (vendor-specific).
@ NetworkIndexTypeCONTROL_WORD_INDEX
Control Word (DS402 0x6040) - 16-bit drive state machine commands.
@ NetworkIndexTypeMODE_OF_OPERATION_INDEX
Modes of Operation (DS402 0x6060) - 8-bit operation mode (PP, PV, HM, CSP, CSV, CST).
@ NetworkIndexTypeDIGITAL_INPUT_INDEX
Digital Inputs (DS402 0x60FD) - 8/16/32-bit drive input state (vendor-specific).
@ NetworkIndexTypeTARGET_TORQUE_INDEX
Target Torque (DS402 0x6071) - 16-bit torque/current setpoint (‰ of rated torque).
@ NetworkIndexTypePDO_POSITION_ERROR_INDEX
Position Error (DS402 0x60F4) - 32-bit following error in counts (optional).
@ NetworkIndexTypeSTATUS_WORD_INDEX
Status Word (DS402 0x6041) - 16-bit drive state/status flags.
@ NetworkIndexTypeANALOG_OUTPUT_INDEX
Analog Output - 16/32-bit analog output command (vendor-specific).
@ NetworkIndexTypeVELOCITY_ACTUAL_INDEX
Velocity Actual Value (DS402 0x606C) - 32-bit velocity feedback in counts/sample.
@ NetworkIndexTypeTORQUE_ACTUAL_INDEX
Torque Actual Value (DS402 0x6077) - 16-bit torque/current feedback (‰ of rated torque).
@ NetworkIndexTypePOSITION_DEMAND_INDEX
Target Position (DS402 0x607A) - 32-bit position setpoint in counts.
@ NetworkIndexTypeDIGITAL_OUTPUT_INDEX
Digital Outputs (DS402 0x60FE) - 8/16/32-bit drive output commands (vendor-specific).
@ NetworkIndexTypePOSITION_ACTUAL_INDEX
Position Actual Value (DS402 0x6064) - 32-bit encoder feedback in counts.
RSIFirmwareStatus
Firmware status bit masks for the axis status word.
@ RSIFirmwareStatusTRIGGERED_MODIFY
Bit 19 (0x80000). Latched. A triggered modify action has fired (motion modified by event).
@ RSIFirmwareStatusDONE
Bit 4 (0x10). Latched. Motion complete: profile finished (AT_TARGET) and settled (IN_FINE_POSITION).
@ RSIFirmwareStatusREC_HIGH
Bit 25 (0x2000000). Data recorder buffer has reached the high-water mark.
@ RSIFirmwareStatusDISABLED
Bit 22 (0x400000). Amp enable output is OFF — the axis is disabled.
@ RSIFirmwareStatusREC_FULL
Bit 26 (0x4000000). Data recorder buffer is completely full.
@ RSIFirmwareStatusEXTERNAL
Bit 29 (0x20000000). External event — a User Message command executed in the Program Sequencer....
@ RSIFirmwareStatusESTOP_CMD_EQ_ACT
Bit 17 (0x20000). Latched. E-Stop with immediate command-equals-actual snap.
@ RSIFirmwareStatusMS_FAULT
Bit 8 (0x100). Motion Supervisor fault.
@ RSIFirmwareStatusOUT_OF_FRAMES
Bit 9 (0x200). Latched. Motion frame buffer underrun — host did not supply frames fast enough.
@ RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP
Bit 18 (0x40000). Latched. A triggered modify resulted in an E-Stop.
@ RSIFirmwareStatusPS_FAULT
Bit 7 (0x80). Program Sequencer fault. N/A.
@ RSIFirmwareStatusHOST
Bit 23 (0x800000). Latched. The current stop/error was initiated by the host application (user),...
@ RSIFirmwareStatusESTOP_ABORT
Bit 16 (0x10000). Latched. E-Stop followed by command position set to actual position.
@ RSIFirmwareStatusIN_COARSE_POSITION
Bit 0 (0x01). Position error is within the coarse-position tolerance.
@ RSIFirmwareStatusRESUME
Bit 12 (0x1000). Motion resumed from a paused or stopped state.
@ RSIFirmwareStatusREC_IDLE
Bit 24 (0x1000000). Data recorder is idle (not recording).
@ RSIFirmwareStatusCAM
Bit 28 (0x10000000). Electronic cam error — master axis fault propagated to this follower.
@ RSIFirmwareStatusMOTION_MODIFY
Bit 6 (0x40). Latched. A running motion profile was modified (e.g., new target appended).
@ RSIFirmwareStatusSTOP
Bit 14 (0x4000). Latched. Motion has been stopped. Must be explicitly resumed or cleared.
@ RSIFirmwareStatusAT_VELOCITY
Bit 2 (0x04). Command velocity has reached the requested cruise velocity.
@ RSIFirmwareStatusMOTION_START
Bit 5 (0x20). Latched. A new motion profile has started executing.
@ RSIFirmwareStatusERROR_STATE
Bit 21 (0x200000). Latched. Derived — automatically set when any error bit (15–18,...
@ RSIFirmwareStatusIN_FINE_POSITION
Bit 3 (0x08). Position error is within the fine (settling) tolerance. Same bit as SETTLED.
@ RSIFirmwareStatusMOTOR_LIMIT
Bit 31 (0x80000000). Latched. A motor limit condition fired (amp fault, encoder fault,...
@ RSIFirmwareStatusAT_TARGET
Bit 1 (0x02). Latched. Command position has reached the profile target.
@ RSIFirmwareStatusRESET
Bit 11 (0x800). Axis has been reset (faults cleared).
@ RSIFirmwareStatusABORT
Bit 20 (0x100000). Latched. Motion aborted — command position immediately set to actual.
@ RSIFirmwareStatusPAUSE
Bit 13 (0x2000). Motion is paused — ramping feedrate to zero velocity, resumable.
@ RSIFirmwareStatusESTOP
Bit 15 (0x8000). Latched. Emergency stop — ramping feedrate to zero on the E-Stop profile.
@ RSIFirmwareStatusSETTLED
Bit 3 (0x08). Alias for IN_FINE_POSITION. Axis has settled within fine tolerance.
@ RSIFirmwareStatusFRAME
Bit 10 (0x400). A motion frame has been consumed (loaded into execution).
@ RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP_ABORT
Bit 30 (0x40000000). Latched. A triggered modify resulted in an E-Stop with abort.
@ RSIFirmwareStatusREC_RUNNING
Bit 27 (0x8000000). Data recorder is actively recording samples.
RSINetworkStartupMethod
Network startup methods.
@ 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.
@ RSINetworkStartupMethodNORMAL
probe and run
RSIFilterGainPIVCoeff
PIV gain coefficients.
@ RSIFilterGainPIVCoeffINTEGRATIONMAX_REST
Integrator Maximum (not moving).
@ RSIFilterGainPIVCoeffFEEDFORWARD_VELOCITY
Vff.
@ RSIFilterGainPIVCoeffNOISE_FILTERFFT
Noise filter FFT.
@ RSIFilterGainPIVCoeffGAINPOSITION_PROPORTIONAL
Kpp.
@ RSIFilterGainPIVCoeffFEEDFORWARD_FRICTION
Fff.
@ RSIFilterGainPIVCoeffFEEDFORWARD_ACCELERATION
Aff.
@ 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).
@ RSIFilterGainPIVCoeffGAINVELOCITY_INTEGRAL
Kiv.
@ RSIFilterGainPIVCoeffUNUSED
Unused.
@ RSIFilterGainPIVCoeffFEEDFORWARD_POSITION
Pff.
@ RSIFilterGainPIVCoeffGAINPOSITION_INTEGRAL
Kip.
@ RSIFilterGainPIVCoeffGAINVELOCITY_PROPORTIONAL
Kpv.
@ RSIStateSTOPPING
Stopping, on its way to stopped. Note: Cannot use Axis::PositionSet() or Axis::CommandPositionSet() i...
@ RSIStateSTOPPING_ERROR
Stopping with an error.
@ RSIStateSTOPPED
Stopped (resumable). Note: Cannot use Axis::PositionSet() or Axis::CommandPositionSet() in this state...
@ RSIStateMOVING
Moving (without any errors). Note: Cannot use Axis::PositionSet() or Axis::CommandPositionSet() in th...
@ RSIStateIDLE
Idle, ready for anything.
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
@ 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.
@ RSIAxisMasterTypeADDRESS
1.15.0