HelloRapidCode.py

 
 
 
 
import os
import sys
 
import RapidCodeHelpers as helpers # The check_errors() and check_errors() helpers provided on our API SampleApp documentation pages
 
rapidcode_dir = helpers.find_rapid_code_directory()
 
#Import the ntx.dll from INtime
os.add_dll_directory("c:\\Program Files (x86)\\INtime\\bin")#ntx.dll
 
#Import the RapidCode.py file (Path to your rapidcode install directory)
sys.path.append(rapidcode_dir)
 
import RapidCode # The RapidCode.py wrapper located in your RMP install directory
 
 
def print_topology(controller:RapidCode.MotionController):
    stringBuilder = []
    overview = "EtherCAT: {} Nodes, {} {}".format(controller.NetworkNodeCountGet(), controller.NetworkTypeGet(), controller.NetworkStateGet())
    stringBuilder.append(overview)
 
    Nodes = []
    for i in range(controller.NetworkNodeCountGet()):
        io = controller.IOGet(i)
        helpers.check_errors(io)
        if(io.NetworkNode.Exists()):
            Nodes.append(io.NetworkNode)
        
 
    for node in Nodes:
        stringBuilder.append("") # for spacing
        stringBuilder.append("Node[{}] - {} ______________________________________________".format(node.NumberGet(), node.NameGet()))
        stringBuilder.append(" Vendor: {} ".format(node.VendorNameGet() + "Product: {}".format(node.ProductNameGet())))
        stringBuilder.append("  VendorID:      0x{:08X} ProductCode:   0x{:08X}".format(node.VendorIdGet(), node.ProductCodeGet()))
        stringBuilder.append("  HardwareRev:   0x{:08X} SerialNumber:  {}".format(node.RevisionGet(), node.SerialNumberGet()))
        stringBuilder.append("  StationAlias:  0x{:08X} AxisCount:     {}".format(node.StationAliasGet(), node.AxisCountGet()))
        stringBuilder.append("  SegmentCount:  {}".format(node.SegmentCountGet()))
        stringBuilder.append("  DI: {} DO: {} AI: {} AO: {}".format(node.DigitalInCountGet(), node.DigitalOutCountGet(), node.AnalogInCountGet(), node.AnalogOutCountGet()))
 
    stringBuilder.append("") # spacing
    pdoInputs = controller.NetworkInputCountGet()
    stringBuilder.append("NetworkInputs count: {} _________________________________".format(pdoInputs))
    for i in range(pdoInputs):
        stringBuilder.append("  [{}] - {} Bits: {}".format(i, controller.NetworkInputNameGet(i).ljust(70), controller.NetworkInputBitSizeGet(i)))
 
    pdoOutputs = controller.NetworkOutputCountGet()
    stringBuilder.append("NetworkOutputs count: {} _________________________________".format(pdoOutputs))
    for i in range(pdoOutputs):
        stringBuilder.append("  [{}] - {} Bits: {}".format(i, controller.NetworkOutputNameGet(i).ljust(70), controller.NetworkOutputBitSizeGet(i)))
 
    print("\n".join(stringBuilder))
 
 
def main():
    print("Hello, RapidCode.")
 
    motionController:RapidCode.MotionController = RapidCode.MotionController.CreateFromSoftware(rapidcode_dir)
    print("This object is a "+str(type(motionController)))#When creating your RapidCode objects (Axis, MultiAxis, MotionController,ect) we recommend specifying the type with my_object_name:RapidCode.*** (MotionController,Axis, Ect.) so that your IDE can autocomplete class member names. 
    
    #motionController=RapidCode.RapidCodeObject(motionController)
    print("MotionController creation error count: ", motionController.ErrorLogCountGet())
    helpers.check_errors(motionController)
    
    print("RapidCode Version: ", motionController.VersionGet())
    print("Serial Number: ", motionController.SerialNumberGet())
    print("Axis Count: ", motionController.AxisCountGet())
    
    if motionController.NetworkStateGet() == RapidCode.RSINetworkState_RSINetworkStateOPERATIONAL:
        print_topology(motionController)
    
 
 
 
if __name__ == '__main__':
    main()