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RMP Motion Controller
10.3.8
The RMP Motion Controller APIs
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▼NRSI | |
▼NRapidCode | |
▼NCartesian | The Cartesian namespace |
CKinematicModel | Describes the mathematical kinematic model of a robot |
CPose | Pose |
CQuaternion | Quaternion for representing rotations |
CRobot | For Path, G-Code and RapidRobot motion for any actuator. Use RobotCreate() to make one. Your kinematic model must be supported by RapidCode |
CValue | Value |
CVector3d | Vector3d is used for three-dimensional points and vectors |
CAxis | The Axis object manages a single physical axis on a motion controller |
CIO | The IO object provides an interface to the inputs and outputs of a network node |
CIOPoint | The IOPoint object represents one specific point class such as: Digital Output, Digital Input, Analog Output, or Analog Input. |
CMotionController | The MotionController object represents the RMP INtime soft motion controller |
CMultiAxis | The MultiAxis object allows you to map two or more axes together and command synchronized motion. |
CNetworkNode | The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects |
CRapidCodeInterrupt | Interface for objects which can use interrupts |
CRapidCodeMotion | The RapidCodeMotion interface is implemented by Axis and MultiAxis |
CRapidCodeObject | The RapidCode base class. All non-error objects are derived from this class |
CRapidCodeOS | The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController |
CRsiError | The RsiError object contains information about any RapidCode API object's error/exception |
CRTOS | The RTOS object represents the real-time operating system (INtime) |
▼NRapidSequencer | |
▼NAPI | |
CServerInfo | An object containing the IP Address, the port, and the Id of a RapidServer instance |
CServerInfoCollection | A container for ServerInfo objects |
CEngineStatus | Structure for describing the status of the RapidSequencer proccess. Describes whether the process is running, what platform the sequencer is running on, and the number of tasks it has |
CRapidSequencer | An object for interacting with a RapidSequencer process |
CRapidSequencerFactory | The RapidSequencerFactory provides static methods for creating RapidSequencer processes or discovering existing processes. |
CSequencerGlobal | Structure for describing a global tag. Contains information about the type, name, and value of the tag. Also describes if the tag is instantiated, it's memory address, and its size |
CTaskStatus | Structure for describing the status of a task. Describes what state the task is in, the currently executing line number, and the internal counter of the task |
CHelperFunctions | Helper Functions for checking logged creation errors, starting the network, etc |