The RMP Motion Controller API


RapidCode is an API that allows developers to quickly create EtherCAT machine control applications in C++, C#, VB.Net, or Steeplechase VLC. RapidCode provides a powerful, yet easy to use interface for EtherCAT motion controllers, servo/stepper drives and I/O nodes.


Classes - look at our own custom objects. Each provides different variables, functions and events that make it easy to command and control motion.
Sample Apps - these will demonstrate to you how many of our different funtions are used, we hope they guide you and help you become a RMP expert.
Changelog - take a look at our records of all notable changes made to the RapidCode API.

Class Diagram


MotionController - represents the PCI motion controller board or the RMP INtime soft motion controller. This class provides an interface to general controller configuration, firmware upload/download, network, and data recording.

Axis - represents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory paramters, configuring filter (control law) parameters, homing, limit switch configuration, motor configuration, position capture, electronic gearing and Node information.

MultiAxis - provides an interface to a group or collection of axes. Use the MultiAxis class when coordinated, synchronized or path motion is required.

IO - provides an interface to an IO Node. An IO node can have various combinations of digital or analog inputs and outputs. IO Objects have access to NetworkNode Functions.

IOPoint - provides a common interface to any I/O Point, regardless of where it resides: MotionController, Axis, or IO Node. It represents a point class. An IOPoint object can be any specific Digital Output, Digital Input, Analog Output, or Analog Input.

RsiError - is thrown as an execption by all RapidCode classes. It contains and error number, and a text message which describes the error. Throwing exceptions can be disabled on all RSI classes. If throwing exceptions is disabled, a log of RsiErrors can be accessed.

Offline Documentation

Click here to download RapidCode Documentation as Compiled HTML Help (CHM).

Creating a new Project

See Getting Started for instructions to set up your development environment.

Topic Documentation

Explore our Topics to learn more about our RapidCode API capabilities.