The RMP Motion Controller API
Changelog

10.2.2 May 5, 2021

  • [General Change] MultiAxis input arrays are no longer modified.
  • [General Change] RapidCode API arrays updated with const contract.
  • [Bug Fix] ENI generation issue with multiple Beckhoff EK11xx nodes (port type failure).
  • [Bug Fix] Beckhoff EL7041 ESI file updated for RMP compatibility.

10.2.1 Feb 16, 2021

  • [New Feature] RsiError message improvements.
  • [New Feature] Visual C++ 2019 x64 redistributables included in installer.
  • [New Feature] RapidCode64.dll embedded in RapidCode64.NET.dll (also true for x86 DLLs).
  • [General Change] Schneider ILA support.
  • [General Change] Mitsubishi MRJ5 MultiAxis drive support.
  • [Bug Fix] Legacy license file issue.

10.2.0 Jan 21, 2021

  • [New Feature] NodeInfo.xml <Unsupported state="bootstrap"> support.
  • [New Feature] Axis.BacklashValueGet() added.
  • [General Change] RapidSetup and utilities provided as 64-bit (x64) apps instead of 32-bit (x86).
  • [General Change] RSI.System.dll code moved into RapidCode64.Net.dll.
  • [General Change] ENI generation library update.
  • [General Change] Leadshine CS3E Drive support.
  • [General Change] Hiwin ED1F support.
  • [General Change] MotionController.SerialNumberGet() returns an unsigned 32-bit integer.
  • [General Change] Schneider drive warning support.
  • [Bug Fix] RapidSetup - when changing MultiAxisCount.

10.1.2 Nov 11, 2020

  • [General Change] Festo CMMT supported.
  • [General Change] Axis.OperationModeGet/Set are now supported with all DS402 axes.
  • [Bug Fix] Sequencer UI components license no longer missing.
  • [Bug Fix] RapidSetup Axis velocity jogging issue.
  • [Bug Fix] RapidSetup Master homing issue.

10.1.1 2020-10-20

  • [New Feature] RapidCode / RMP firmware version mismatch warning.
  • [New Feature] RapidSequencer array support.
  • [General Change] MotionController::FirmwareVersionGet returns const char*.
  • [General Change] RapidSequencer Globals API simplification.
  • [General Change] Mitsubishi MR-J5 support.
  • [Bug Fix] RapidSetup Sequencer output window loading issue.
  • [Bug Fix] RapidSequencer XML creation issue.
  • [Bug Fix] RapidSequencer node selection issue.

10.1.0 2020-10-08

  • [New Feature] eRMP support in MotionScope, VM3 and other command-line utilities.
  • [General Change] Copley XEL support.
  • [General Change] Documentation moved to rsi.h. Enumerations now in rsienums.h.
  • [Bug Fix] RapidSetup phantom axes display properly.
  • [Bug Fix] RapidSetup Drive Based Homing can now be canceled.

10.0.5 2020-09-17

  • [New Feature] Digital Outputs added to Fuji Alpha7.
  • [General Change] RapidSetup MultiAxis rework.
  • [General Change] Better support for Realtek NICs.
  • [General Change] Drive based homing supported for nodes with cyclic ModeOfOperation exchange.
  • [Bug Fix] Use current working directory for utilities (VM3, MotionScope, etc).
  • [Bug Fix] Drive based homing would be disabled if you had more than one node of the same type.

10.0.4 2020-09-08

  • [New Feature] FileName member added to RsiError.
  • [General Change] MotionController::Create error messages more descriptive.

10.0.3 2020-09-01

  • [New Feature] RapidSequencer global variables.
  • [General Change] EtherCATNodeInfo.xml renamed to NodeInfo.xml.
  • [General Change] RapidSequencer Language and Editor improvements.
  • [General Change] Nexcom NEIO1812 support.
  • [General Change] Delta R1 Pulse Module support.
  • [General Change] Sick Flexi Soft Safety Controller support.
  • [General Change] RapidSequencer improvements.

10.0.2 2020-08-05

  • [New Feature] Expanded IOPoints to work with memory addresses and network PDOs.
  • [New Feature] rsiconfig.exe adds serial number and licence checking with –help option.
  • [New Feature] RapidSetup dark theme.
  • [General Change] C# and RapidSequencer sample apps updated.
  • [General Change] Kollmorgen AKD-N drive support.
  • [General Change] B&R X20 System support.
  • [General Change] Moons STF stepper drive support.
  • [General Change] Moons SSDC Series Step-Servo drive support.
  • [General Change] Fuji Electric Alpha7 drive support.
  • [General Change] Fastech Ezi-SERVOII Mini stepper drive support.
  • [General Change] Beckhoff P module support.
  • [General Change] Panasonic Minas 6 support.

10.0.1 2020-07-02

  • [General Change] RSI version improvements.

10.0.0 2020-06-30

  • [New Feature] RapidSequencer and RapidSequencerRT.
  • [New Feature] RapidCodeRT libraries.
  • [New Feature] Run RMP on any INtime node.
  • [New Feature] Delta R1 Series IO support.
  • [General Change] INtime 6.4.20030.1 or higher required.
  • [General Change] RapidCode libraries renamed.
  • [General Change] RapidCode requires 2015/2017/2019 VC runtime.
  • [General Change] rsi.h uses stdint types (ex int32 => int32_t).

8.3.2 2020-06-08

  • [New Feature] Yaskawa SGD7S 400V support.
  • [New Feature] CTB GH support.
  • [New Feature] EP4378 support.
  • [New Feature] Network Data Type Getters.
  • [New Feature] Error Code support for Copley Drives: XEC, TE2, and XE2.
  • [General Change] Offline documentation is now zipped HTML, included with releases (not CHM).
  • [General Change] Improved CompensatorConfigSet.
  • [Bug Fix] Yaskawa SGDV default PDO entry changes.

8.3.1 2020-04-28

  • [Bug Fix] RMP firmware internal memory structure changes prevent a rare MultiAxis TRIGGERED_MODIFY bug.

8.3.0 2020-04-14

  • [New Feature] Ability to create Compensators with the same input and output Axis.
  • [General Change] Compensators use raw encoder counts and not User Units.
  • [General Change] Fastech EZI-SERVO EtherCAT drive support.
  • [General Change] Fastech EZI-SERVO ALL drive support.
  • [General Change] SDO Read/Write and AKDASCIICommand() thread-safe locking.
  • [Bug Fix] VM3 when viewing memory dump file's word orientation for 64-bit double precision values.

8.2.1 2020-03-11

  • [Bug Fix] Triggered Modify behavior with streaming motion.
  • [Bug Fix] dumpframes, dumpevents and bodetool utilities no longer complain of missing license file.

8.2.0 2020-02-19

  • [New Feature] Support for INtime USB keys with 32-bit serial numbers (was 16-bit).
  • [New Feature] Position compensation tables: 1D and 2D, multiple compensators additive.
  • [New Feature] Oriental NETC01 support.
  • [New Feature] rsiConfig now supports Recorders and Compensators.
  • [General Change] EtherCATNodeInfo.xml Yaskawa digital IO changes.
  • [General Change] RMPNetwork - reduced FoE logging when transferring large files or using a small mailbox.
  • [General Change] C4251 and C4091 C++ warnings eliminated.
  • [Bug Fix] rsiConfig - Fixed problem setting Axis XML without path.

8.1.9 2020-01-31

  • [General Change] Default FoE Mailbox size set to 128 bytes.

8.1.8 2020-01-21

  • [New Feature] Improved DS402 Master Based Homing.
  • [New Feature] Adding MOTOR_DATA_STATUS to AddressGet.
  • [New Feature] RapidSetup displays packet error counters.
  • [New Feature] XE2 support.
  • [General Change] RapidSetup Error Messages redesign.
  • [General Change] SMC_EX600 Updates.
  • [General Change] rsiConfig expanded path support.
  • [General Change] RapidSetup MessageBox and NetworkData PDO Input Changes.
  • [Bug Fix] Fixed an issue with FoE at the end of some transfers.
  • [Bug Fix] Fixed a rare initialization issue with UserLimit Setup.

8.1.7 2019-09-09

  • [Bug Fix] SDO status buffer created once per node rather than once per call.
  • [Bug Fix] PageFault related to continuous SDO reads during loss of network.

8.1.6 2019-08-29

  • [New Feature] iBase TPM STP-K121 drive support.
  • [New Feature] rsiConfig -generate will create an ENI file if missing.
  • [General Change] RapidSetup - desktop shortcut includes version number.
  • [General Change] EtherCATNodeInfo.xml now supports comments.
  • [General Change] SMC-EX600 support.
  • [General Change] EL9510 support.
  • [Bug Fix] PageFault related to running RMPNetwork.rta without RMP.rta running.
  • [Bug Fix] PageFault related to multi-axis drive IO.

8.1.5 2019-07-08

  • [New Feature] UserLimit Output feature can copy any value in firmware to output.
  • [New Feature] TC_ACTUAL_POSITION & TC_COMMAND_POSITION added to RSIAxisAddressTypes.

8.1.4 2019-06-28

  • [New Feature] Axis.DriveIndexGet support.
  • [New Feature] NetworkNode.AxisCountGet() added.
  • [New Feature] Custom timeouts available with overloads to NetworkStart and Service Channel functions.
  • [New Feature] Custom ControlWord Bits On/Off added to EtherCATNodeInfo.xml.
  • [New Feature] Expanded options available to NetworkOutputAddressGet.
  • [New Feature] Working Directory Display Added to File Tab.
  • [General Change] Added Digital Inputs/Outputs and Actual Velocity to default Yaskawa implementation.
  • [General Change] Improved SDO Error messages.
  • [General Change] Improved IO support for EtherCAT IO Nodes.
  • [General Change] Missing ESI File Dialog Rework.
  • [General Change] NetworkStart set to timeout after 30 seconds.
  • [Bug Fix] Fixed an issue with Remote Desktop when using USB dongle licenses.
  • [Bug Fix] Fixed Error 7170 (thread running) when calling MotionController::Delete().

8.1.3 2019-04-02

  • [General Change] RapidSetup Axis and MultiAxis repeat motion disabled on errors, amp disabled, and switching views.
  • [General Change] RMPNetwork sets Amp Fault for each axis on shutdown.
  • [General Change] UserLimit methods now use cached AxisCount to improve performance.
  • [General Change] SourceNameGet() no longer throws exception when it cannot read extra Amp Fault text.
  • [Bug Fix] RapidSetup - SDO Read/Write string values.
  • [Bug Fix] 64-bit RapidCode libraries now support tracing and home logging.
  • [Bug Fix] RMPNetwork intermittent shutdown issues when nodes lose power or are disconnected.
  • [Bug Fix] RapidSetup - Axis Master-based Homing: Move To Zero and Log Homing were reversed.
  • [Bug Fix] RapidSetup - unable to set Home Method 18.

8.1.2 2019-03-06

  • [New Feature] 64 bit library support for INtime USB keys.
  • [General Change] Reworked Exceptions, Properties, and Commands in RapidSetup.
  • [General Change] No longer report logging messages to stdout for trace/homing.
  • [Bug Fix] Fixed an Issue which showed two AI & AO for AKDs.

8.1.1 2019-02-07

  • [New Feature] FoE (File over EtherCAT) added to the RMP.
  • [General Change] Minor tweaks made to RapidSetup.

8.1.0 2019-02-01

  • [New Feature] User Limits in RapidSetup.
  • [New Feature] User Limits Single-Shot feature.
  • [New Feature] User Limits API additions to get configurations.
  • [New Feature] MotionController::AddressFromString and StringFromAddress methods.
  • [New Feature] Support for INtime USB keys.
  • [General Change] Additional Beckhoff Analog Input detection.
  • [General Change] UserLimitConditionSet for 32-bit masking now uses uint32 for bitmasking types.
  • [General Change] UserLimitConditionSet for 64-bit double comparison no longer requires a mask parameter.
  • [General Change] Global Mutex for windows services.
  • [General Change] RapidSetup error reporting improvements.

8.0.8 2018-11-28

  • [New Feature] Added Rollover support for more feedback resolutions.
  • [Bug Fix] Fixed an AKD Index Homing issue caused by changes in newer firmware.

8.0.7 2018-10-30

  • [New Feature] Parker Drive support.
  • [New Feature] Sick Encoder support.
  • [New Feature] axisControlwordOutputGet added to NetworkAPI.

8.0.6 2018-10-01

  • [General Change] Added two gains to the PIV Tuning Window.
  • [Bug Fix] Motion Scope startup issue.
  • [Bug Fix] StreamingOutputs frame allocation issue.
  • [Bug Fix] 64-bit library fixes for FeedbackPointerGet/FeedbackPointerSet, NetworkStart and NetworkIndexGet.

8.0.5 2018-09-28

  • [New Feature] FilterDualLoop is now supported with the RMP.
  • [General Change] IO Node Address and Mask accessors improved.
  • [General Change] Panasonic drives now use the new IO Implementation of EtherCATNodeInfo.
  • [Bug Fix] Fixed an Issue with User Limit creation.
  • [Bug Fix] Fixed an Issue with Beckhoff Stepper Limits.

8.0.4 2018-09-21

  • [General Change] ABB Microflex EtherCATNodeInfo Changes.

8.0.3 2018-09-18

  • [New Feature] INVT DA200 support.
  • [New Feature] ABB Microflex support.
  • [General Change] Improved Datagram/Sync0 Alignment.
  • [General Change] Name change removing Axis from NetworkIndexSet, NetworkIndexGet, & NetworkIndexType.
  • [General Change] Various minor RapidSetup Improvements
  • [Bug Fix] Analog Outputs now work from an IO Page.
  • [Bug Fix] System Time no longer adjusted when in Master Shift Mode.

8.0.2 2018-08-13

  • [New Feature] Secondary Feedback support for DS402 Drives.
  • [New Feature] DS402 16 Bit Encoder support.
  • [New Feature] NetworkAxisIndexSet & NetworkAxisIndexGet Added.
  • [New Feature] MultiAxis AddressGet Added.
  • [New Feature] FeedRate can be set with User Limits.
  • [General Change] Generic DS402 reworked to be more flexible.

8.0.1 2018-07-09

  • [New Feature] AL Status & Code collected by the EtherCAT Master.
  • [New Feature] Data Link Layer now accessible via ServiceChannel calls.
  • [General Change] RMP Velocity Mode processing now enabled by default.
  • [Bug Fix] Fixed two issues with Beckhoff Steppers.

8.0.0 2018-06-18

  • [New Feature] New Version RapidSetup - requires .NET 4.5.
  • [New Feature] UserData for UserLimits. See UserLimits Topic, InterruptUserDataGet, and UserLimitInterruptUserDataAddressSet.
  • [New Feature] Lenze I550 support.
  • [New Feature] UserLabels for MultiAxis.
  • [New Feature] IO NumberGet returns the associated Node Number.
  • [General Change] SynqNet Capture functions removed from RMP Releases.

7.4.2 2018-05-24

  • [New Feature] Additional configurations of S700s supported.

7.4.1 2018-05-17

  • [New Feature] Index support for S700 Master Homing.
  • [New Feature] Mitsubishi MR-J4-TM support.
  • [General Change] Festo CMMP now starts up in CSP rather than IP.
  • [General Change] Changed Sync0 start time to about 80 milliseconds out.
  • [General Change] Axis default parameters stored in RMP memory.
  • [General Change] NetworkNode defaults to ThrowExceptions(true).
  • [General Change] Improved Repeat Camming Implementation.
  • [Bug Fix] Fixed a issue reading SDO Integers after reading Strings.
  • [Bug Fix] Fixed a issue with IO showing up on the wrong Node.

7.4.0 2018-03-27

  • [General Change] Streaming Outputs API simplified.
  • [General Change] Beckhoff ESI files updated.
  • [General Change] Modify Events + MultiAxis + Gearing now supported.
  • [Bug Fix] MultiAxis Streaming Outputs fixed when there are multiple streaming outputs per PT point.

7.3.5 2018-03-16

  • [New Feature] Save RMP MemoryToFile menu item added to RapidSetup.
  • [New Feature] AKD implementation now uses DS402 model.
  • [New Feature] S700 support.
  • [New Feature] RSIActionE_STOP_MODIFY_ABORT and RapidCodeMotion::EStopModifyAbort() added.
  • [New Feature] MotionController NetworkOutputIntendedValueGet, NetworkOutputOverrideValueSet, NetworkOutputOverrideValueGet, NetworkOutputSentValueGet functions added.
  • [General Change] IO rework. Support for multi-bit Digital PDO Entries.
  • [General Change] Axis default velocity, acceleration and deceleration set to 1.0

7.3.4 2018-01-09

  • [New Feature] RSIActionTRIGGERED_MODIFY and associated functions added.
  • [New Feature] Triggered Modify support for Master Based Homing (HomeBehaviorGet/Set).
  • [New Feature] motorStatusGet Added to RMPNetworkAPI.
  • [General Change] RapidSetup C# improvements.

7.3.3 2017-12-14

  • [New Feature] DS402 Drive based Homing Control added to RapidSetup.
  • [New Feature] Backlash Compensation added for Position Mode.
  • [New Feature] MotionController.MemoryToFile function added.
  • [Bug Fix] EStopModify no longer causes out of frames EStop in firmware 918A5
  • [Bug Fix] MultiAxis Streaming Outputs fixed.

7.3.2 2017-11-21

  • [New Feature] NewtorkOutputOverride Get/Set added. RapidSetup Network I/O checkbox added.
  • [New Feature] RSIVersionMajor(), RSIVersionMinor(), RSIVersionMicro() added.
  • [New Feature] NetworkNode ProductNameGet and VendorNameGet added.
  • [General Change] RapidSetup tuning visibility.
  • [General Change] IOPoint objects are now deleted when the MotionController is deleted.

7.3.1 2017-10-27

  • [New Feature] SMC EX260 EtherCAT module support.
  • [Bug Fix] MotionScope, VM3, DumpDiff, RapidWorkbench fixes.

7.3.0 2017-10-25

  • [New Feature] RSIQVC64 and RSIQDNET64 added for 64-bit support.
  • [New Feature] SDO Writes support for Axis Configuration xmls.
  • [New Feature] Added RSIVersionMajor(), RSIVersionMinor(), RSIVersionMicro() to RapidCodeObject.
  • [General Change] RMP and MPI upgraded to 918A4 and 04.04.02.
  • [General Change] Improved Copy/Paste inside RapidSetup.

7.2.6 2017-10-02

  • [New Feature] Keyence NU-EC1 support.
  • [General Change] RapidWorkbench for AKD - improvements when switching axes.
  • [General Change] Service channel SDO read execution time reduced.
  • [Bug Fix] Streaming Outputs only worked for 1 axis.

7.2.5 2017-09-20

  • [New Feature] Copley TE2 Stepnet Plus drive support.
  • [New Feature] CTB drive support.
  • [New Feature] MultiAxis node support.
  • [General Change] MotorDemandMode Get/Set/Enum replaced with OperationMode Get/Set/Enum and supported with EtherCAT.

7.2.4 2017-09-16

  • [Bug Fix] Post Trajectory Gearing fixed.

7.2.3 2017-09-14

  • [New Feature] Schneider LXM28E EtherCAT drive support.
  • [New Feature] Additional Elmo & Schneider Error Messages supported.
  • [Bug Fix] Network process shutdown improvements.

7.2.2 2017-08-29

  • [General Change] ProcessorUsage info adjustments in RapidSetup.
  • [General Change] MotionScope easier to access in RapidSetup.
  • [Bug Fix] StatusBitGet fixes for MultiAxis objects.

7.2.1 2017-08-21

  • [New Feature] Estun ProNet EtherCAT drive support.
  • [New Feature] Home Stage settings saved to/from Axis XML.
  • [General Change] RMP and RMPNetwork thread synchronization improvements.
  • [Bug Fix] Axis XML no longer fails with ambiguous method exception.

7.2.0 2017-08-03

  • [New Feature] Elmo EtherCAT drives support.
  • [New Feature] Beckhoff EL7041 steppers support.
  • [New Feature] NetworkTiming Feature in RapidSetup.
  • [General Change] SynqNet deprecated.
  • [General Change] AddEntry to PDOs without RemoveContent.
  • [General Change] Axis numbers to Homing Logging.
  • [General Change] Synchronization diagnostics and filterDepth improvements.
  • [General Change] RTOS Start/Stop.
  • [General Change] Improved IO identification in EtherCATNodeInfo.xml.
  • [General Change] RapidENI error on modify a fixed PDO.
  • [Bug Fix] AdjustTimer improved for Skylake processors.

7.1.2 2017-06-02

  • [New Feature] Added RSIHomeStageSTAGE_FOUR. Covers motion to Zero after HomeOffsetSet has been used.
  • [New Feature] Added support for Copley's XEC-230-12 drive.
  • [New Feature] Added TraceFileClose. The ability to Close a file that was open for logging.
  • [Bug Fix] Fixed an issue with vendor and product ids above the max int size.

7.1.1 2017-05-22

  • [General Change] Added some additional Homing logging.
  • [Bug Fix] Fixed an issue where some systems would report different identifiers when running with reduced privileges.

7.1.0 2017-05-15

  • [New Feature] RapidCode no longer requires Windows Administrator privileges
  • [New Feature] Improved SourceNameGet to include more information about RMP Amp Faults for most drives.
  • [New Feature] Yaskawa EtherCAT Torque/Velocity Mode support.
  • [New Feature] Added support for Applied Motion Products SS EtherCAT drive.
  • [New Feature] Added support for Panasonic MMDHT2C09BD1 EtherCAT drive.
  • [New Feature] RSIMotorDedicatedInWARNING now supported for EtherCAT AKDs.
  • [New Feature] Homing Moves during RSIHomeStage_TWO & RSIHomeStage_THREE now have their own velocity, accel, decel, and jerk values which can be set independent of RSIHomeStage_ONE
  • [New Feature] Homing Logging Added. Use Axis.TraceMaskOnSet(RSITraceCUSTOM) & Axis.TraceFileSet(fileName) to use.
  • [New Feature] TraceInjectMessage(RSITrace traceLevel, msg) to add your own messages to the output log.
  • [General Change] Improved Beckhoff EJ3004, EL1259, EL3064, & EL3356 Implementations.
  • [General Change] Made changes to pNetwork values saved by an EtherCAT AKD.
  • [General Change] Region locking for PDO read/write data.
  • [Bug Fix] Custom Home configuration initialized properly.

7.0.16 2017-03-23

  • [New Feature] EtherCAT Teco Drive now supported.
  • [New Feature] Added Ability to add non-standard PDOEntries to PDO sets.
  • [New Feature] RapidCode/RapidSetup expanded to support 32 General Inputs/Outputs.
  • [General Change] EtherCAT AKDs now use the standard Control Word Functions for Enabling and Clearing Faults.
  • [General Change] rsiConfig.exe probes network and supports new node types.
  • [General Change] Improved Analog IOPoint implementation.
  • [Bug Fix] Skylake Processors should now work as expected with the RMP.
  • [Bug Fix] Fixed an issue when using RMPNetwork without an ENI file.

7.0.15 2017-03-03

  • [General Change] Suppress 2-bit PDO inputs/output error messages

7.0.14 2017-03-02

  • [General Change] MotionController object count methods reconfigure dynamic memory allocation only when necessary
  • [General Change] Home limit action no longer reverting to Stop action when RapidSetup opens

7.0.13 2017-02-27

  • [New Feature] Position mode post-trajectory electronic gearing for RMP
  • [New Feature] Can Start, Stop and Restart INtime from within RapidSetup and RapidCode.
  • [New Feature] Additional Beckhoff EJs supported.
  • [General Change] PositionSet() no longer sets Actual Position for EtherCAT Axes
  • [General Change] Controller::UserVersionSet() can now be safely called outside of Initialization.
  • [General Change] Controller::SyncInterruptEnableSet(false) can now be safely called outside of Application Teardown.
  • [Bug Fix] DS402 position demand scaled from RMP 64-bit double to 32-bit

7.0.12 2017-02-09

  • [New Feature] Additional Axis Memory locations available via AddressGet(RSIAxisAddressType).

7.0.11 2017-01-31

  • [General Change] EtherCAT node clear faults timeout increased to 32 samples
  • [General Change] Axis will Amp Fault if an RMP Node fails to reach Operation Enable after 1000 cycles after calling AmpEnableSet(true)
  • [Bug Fix] Dedicated I/O processing for DS402 drives

7.0.10 2017-01-25

  • [New Feature] RapidCode API to set outputs during streaming motion
  • [New Feature] axisFeedRateSet, axisFeedRateGet, and axisFeedRateDisable added to RMPNetworkAPI
  • [New Feature] Motion ElementID works with streaming and path motion, now displayed in RapidSetup
  • [General Change] AKD ASCII command speeds optimized, Autotuning now available using RapidWorkbench
  • [Bug Fix] Fixed an issue with GetRtSystemTimerValues.

7.0.9 2017-01-13

  • [New Feature] Added Diagnostic methods for Delta Robot
  • [New Feature] EtherCAT network clock adjustments updated for Intel Skylake processors
  • [New Feature] Bonfiglioli drive support
  • [Bug Fix] Improved access to RSI license file

7.0.8 2017-01-04

  • [General Change] Homing Method None (Current Position) is now selected by default in RapidSetup.
  • [Bug Fix] Fixed an issue which caused an error in RapidSetup when you minimized RapidSetup mid-Homing.
  • [General Change] Added a custom DeltaRobot feature.

7.0.7 `2016-12-22

  • [General Change] Homing now Advances to Stage Three for Index only Homing Max Travels.

7.0.6 2016-12-21

  • [General Change] RSI_AXIS_HOME_FAILED_TO_REACH_MAX_TRAVEL reported when homing fails to reach it while looking for edge.
  • [General Change] Homing Error Enumeration and Messages Changed.

7.0.5 2016-12-19

  • [General Change] 11 previously dynamic Homing Error Messages have been enumerated.
  • [Bug Fix] Fixed an issue where HomeStage wouldn't advance with active low Homing Limits.
  • [Bug Fix] Homing now Restores Initial Home Action and Trigger State on Errors.

7.0.4 2016-12-16

  • [General Change] The Default Home Offset is now set to 0 rather than -1
  • [General Change] EtherCAT AKDs now use Homing Defaults rather than Motion defaults to move to the zero-angle when homing
  • [General Change] Home Stages now supports Active Low Homing Implementation
  • [General Change] Delta Functions now return Success Status.

7.0.3 2016-12-15

  • [New Feature] Added StopOnErrorSet() to DeltaRobot to enable/disable throwing exceptions near singularities
  • [New Feature] Added UnmapDelta
  • [General Change] Changed the locations in the Homing process when we advanced Homing Stages

7.0.2 2016-12-13

  • [New Feature] Velocity Mode support for EtherCAT Nodes
  • [New Feature] MovePT now supports Spline, Bessel, and BSpline2 options
  • [General Change] Adjusted Names and PDOs for Schneider EtherCAT Nodes
  • [General Change] Added additional error messages for failed Homing cases
  • [General Change] Improved DumpDiff.
  • [Bug Fix] Fixed a matching issue with RMP Inputs/Outputs
  • [Bug Fix] Fixed an issue where HomingStage wasn't advancing when it should
  • [Bug Fix] Fixed an issue with the Homing Process when Abort was called at just the wrong time

7.0.1 2016-12-02

  • [Bug Fix] Fixed an issue where we were linking to the wrong sqNodeLib.lib file

7.0.0 2016-11-23

  • [New Feature] 64-bit RapidCode libraries for SynqNet 04.04.02
  • [General Change] All host addresses are stored as type uint64 for 32-bit and 64-bit libraries
  • [General Change] MotionCamMasterStartSet requires master Axis object to scale startPostion with UserUnits
  • [Bug Fix] EtherCAT Axis ClearFaults() now waits for Fault bit to be cleared before returning
  • [Bug Fix] Axis::MotionCamMasterStartSet now properly scaled by Origin position
  • [Bug Fix] AmpEnableSet(true) now works in STOPPED state
  • [Bug Fix] MultiAxis SYNC_START and SYNC_END attributes

6.5.1 2016-11-16

  • [New Feature] Delta Robot Kinematics

6.5.0 2016-11-16

  • [New Feature] Axis::MoveCamCubic
  • [Bug Fix] Axis::MotionCamMasterStartSet

6.4.6 2016-11-14

  • [General Change] Upgrade to INtime 6.2
  • [General Change] Changed the Default max speed for the Panasonic Drive from 120 RPM to 20000 RPM

6.4.5 2016-10-31

  • [New Feature] Added new banner option for customer RapidSetup skin
  • [New Feature] OptoForce Sensor added.
  • [New Feature] Added HomeTravelDistanceSet & HomeStageGet allowing for Max Travels to Homing Segments.
  • [General Change] Adjusted Beckhoff's EL2521 Default Configuration
  • [General Change] LimitDurationGet no longer calls HomeUserLimitConfigSet
  • [General Change] Improved setting values from Textboxes when hitting Enter or Esc.
  • [Bug Fix] MultiAxis Delete Improved.
  • [Bug Fix] Fixed an issue with EL2521s which caused a problem on Network Restarts.
  • [Bug Fix] New Synqnet Firmware ....916A6.bin built which corrects for an issue where NEAR_TARGET triggered incorrectly

6.4.4 2016-10-04

  • [General Change] Improved Drive Status message display when a Node was in an Error State.
  • [Bug Fix] Fixed an issue with AmpEnableSet.

6.4.3 2016-09-16

  • [Bug Fix] SqNode name deletion was causing error when closing RapidSetup

6.4.2 2016-09-01

  • [New Feature] InitCmds are now Configurable from EtherCATNodeInfo.xml.
  • [New Feature] DcDataOpMode is now Configurable from EtherCATNodeInfo.xml.
  • [New Feature] PDO String Matching is now Configurable from EtherCATNodeInfo.xml.
  • [General Change] Unknown EtherCAT Nodes will now load the SDO screen when clicked on.
  • [Bug Fix] Fixed an issue using the Service Channel after you issue a string command.
  • [Bug Fix] Fixed an issue with node identification for large networks.

6.4.1 2016-08-01

  • [New Feature] MailBox PollTime is now Configurable from EtherCATNodeInfo.xml.
  • [General Change] Updated RapidSetup Documentation Link.
  • [General Change] Improved RapidSetup's TreeView.
  • [Bug Fix] Fixed an issue with Stopping and Restarting RMPNetwork from RapidSetup.

6.4.0 2016-07-22

  • [New Feature] RapidWorkbench for AKD added.
  • [New Feature] CompensatorTableClear function added.
  • [New Feature] RMP Status window added. You can now see DS402 standard interpretations in the bottom right of the axis screen.
  • [General Change] API Behavior Change - Controller is now a Singleton, reducing chance of Invalidating objects when programming.
  • [General Change] VPLkp.xml renamed to EtherCATNodeInfo.xml.
  • [General Change] Standardized PDO names. Most applications should generate new ENI files using RapidSetup to match new pattern.
  • [General Change] Improved RapidSetup MultiAxis support.
  • [General Changed] Increased maximum number of EtherCAT Input/Output PDOs from 255 to 1024. Added a useful Error Message when past max.
  • [Bug Fix] No longer crash attempting to use a Controller object that was invalid due errors in creation.
  • [Bug Fix] RapidSetup XBox controller library updated.
  • [Bug Fix] Axis PostFilter XML serialization now removes extra postfilers when loading from a smaller postfiler source (xml).
  • [Bug Fix] Corrected an issue when hitting Enter or Tabbing out of the User Units entry box.
  • [Bug Fix] Added dll needed for the BodeTool.

6.3.6 2016-06-14

  • [New Feature] RapidENI API (.NET) to automatically generate ENI file from discovered network
  • [Bug Fix] Resolved AKD Enable Position Enable Offset
  • [Bug Fix] Resolved AKD fault text display

6.3.5 2016-06-03

  • [New Feature] Schneider LXM28E EtherCAT drive support added.
  • [New Feature] KBus support added to RapidENI.
  • [General Change] Improved RMP Clear Faults Timing
  • [General Change] You can now create EtherCAT IO nodes even if they don't have traditional Digital/Analog Inputs/Outputs associated with them

6.3.4 2016-05-17

  • [General Change] FeedbackDeltaPointerGet() and FeedbackDeltaPointerSet are deprecated. Please use FeedbackPointerGet() and FeedbackPointerSet instead.
  • [General Change] Improved Gantry CS Project and included Cpp version.
  • [Bug Fix] Longer Ascii commands are now supported

6.3.3 2016-05-11

  • [New Feature] MotionController memory methods to read/set double values
  • [New Feature] Data Recorder bulk read methods
  • [New Feature] AxisAddressTypeFILTER_SMOOTHED_VELOCITY
  • [New Feature] Yaskawa SGD7S support added
  • [Bug Fix] Improved AKD Clear Faults Capability
  • [Bug Fix] Fixed a Bug with Loading from XML that would cause trouble with Torque Systems.

6.3.2 2016-04-20

  • [New Feature] Direct Velocity Control of AKDs added.

6.3.1 2016-04-18

  • [General Change] Removed assemblies SynqNetSystem4.dll, RapidENILib.dll and RapidSetupControls.dll. The controls in these assemblies are now located in RSI.System.dll
  • [New Feature] Rsiconfig.exe now supports RMP.
  • [Bug Fix] Corrected a timing issue which could cause instability for Kollmorgen and AMC systems.

6.3.0 2016-03-28

  • [New Feature] RapidSetup will now auto select an RMP when it is appropriate to do so.
  • [New Feature] BodeTool included for use with the RMP on drives with Torque Mode support.
  • [New Feature] XML Configurations Axis file names are now saved to and loaded from rsi.ini.
  • [General Change] RMP is now built for INtime 6. Please make sure you upgrade your INtime Version to 6.1.15345.1 or later.
  • [General Change] Improved the Menu options for SynqNet & RMP to exclude non-useful options.
  • [General Change] Index (zero-angle) based homing routines now available for AKD drives.
  • [Bug Fix] Large node counts causes RapidSetup to become sluggish when updating the SqNode Packet Error Counts.

6.2.31 2016-02-16

  • [New Feature] Methods to get estimated SynqNet cable lengths
  • [General Change] Changed the display name on several drives
  • [General Change] Included many new EtherCAT ESI with our release.
  • [General Change] Improved Missing Vendor/Product/Revision Display information when you are missing an ESI file.

6.2.30 `2016-02-01

  • [General Change] Updated AMC ESI to include Vendor's latest.
  • [General Change] Removed unnecessary release files.

6.2.29 2016-01-29

  • [General Change] Regenerate your Topology (ENI) files in order for IO to index properly! Switched from 1 Ordinate Module to 0 Ordinate Module for RapidENI support. Search Terms: IO on wrong Node.
  • [General Change] Modify UI for Controller Configuration on EtherCAT
  • [New Feature] AMC Drive support for RapidENI
  • [Bug Fix] SDO string write issue
  • [Bug Fix] Phantom Axes not showing under correct node in RapidSetup treeview
  • [Bug Fix] INtime exception after multiple network restarts

6.2.27 2016-01-06

  • [New Feature] Support for SynqNet 04.03.16
  • [New Feature] RapidENI Utility to auto-generate ENI file from discovered network topology integrated with RapidSetup

6.2.26 2015-12-11

  • [New Feature] RapidSetup can automatically detect configuration and generate an ENI file for many configurations.
  • [Bug Fix] Fixed a bug which could cause errors if an EL2521 wasn't setup as intended.
  • [Bug Fix] Data Recorder object interrupts not working with EtherCAT.

6.2.25 2015-11-11

  • [General Change] Internal Release

6.2.24 2015-10-31

  • [New Feature] Delta ASDA-A2-E (EtherCAT) Drives now supported by the RMP.
  • [New Feature] Crevis I/O now supported by the RMP.
  • [Bug Fix] Bad ENI files could crash INtime. Added Config Validation.
  • [Bug Fix] MotionController::RecorderConfigureToTriggerOnMotion not triggering on motion start

6.2.23 2015-10-19

  • [General Change] Improvements to EtherCAT SDOs. Better messaging and RapidSetup sign support.
  • [General Change] Improvements to DS402 state transitions to Operation Enable.
  • [New Feature] 1D and 2D Compensation table support
  • [Bug Fix] EncoderRatio for EtherCAT, EncoderCountGet/Set

6.2.22 2015-10-06

  • [General Change] Added support for Vendor ID 0x2e1 for FlexiPro Drives.

6.2.21 2015-09-24

  • [General Change] Added DOUT1 and DOUT2 support to the AKD EtherCAT Drive
  • [Bug Fix] MulitAxis::AxisGet returns an axis with an invalid NetworkNode object

6.2.20 2015-09-18

  • [General Change] RapidSetup requires .NET Framework 4.0
  • [New Feature] RapidENI utility to auto-generate ENI file from discovered network topology
  • [New Feature] Torque Mode support for the Panasonic EtherCAT drive
  • [Bug Fix] MultiAxis::ClearFaults for EtherCAT

6.2.19 2015-07-29

  • [New Feature] Interfaces added for all RapidCode .NET classes. (IMotionController, IAxis, etc.)
  • [Bug Fix] Fixed a Bug with the RSIQDNET4 dll that prevented the use of CreateFromSoftware(rtaPath).

6.2.18 2015-07-09

  • [New Feature] Automatically download RMP licenses.
  • [General Change] Restored Multiaxis Delay functionality.

6.2.17 2015-06-23

  • [New Feature] Added Dedicated Homing, Positive, and Negative Limit support to the Panasonic MinasA5 EtherCAT Drives

6.2.16 2015-06-03

  • [New Feature] .NET overload for CreateFromSoftware() to specify working folder (path to RMP.rta)
  • [New Feature] Added support for Beckhoff BK1150 series IO Modules to the RMP.
  • [New Feature] Added support for ESD ECX-DIO8 IO Modules to the RMP.
  • [Bug Fix] Adjusted Kollmorgen AKD Parameters REGEN.TYPE & REGEN.WATTEXT to ensure proper setting from RapidCode and RapidSetup.
  • [Bug Fix] Fixed (Object reference not set to an instance of an object. Boolean LockTake()) error Spam with Early Versions of .Net 2.0

6.2.15 2015-05-27

  • [General Change] Cleaned up the Homing Screen for RMP Releases.
  • [New Feature] Support for EtherCAT nodes with 64-bit DC

6.2.14 2015-05-14

  • [New Feature] Torque Mode support for the AMC EtherCAT drive.
  • [General Change] The Tuning Box should no longer display when inappropriate.
  • [Bug Fix] RapidSetup exception when setting UserVersion
  • [Bug Fix] Fixed a validator that prevented the use of high indexes for SDO Control

6.2.13

  • [New Feature] RapidCode now supports most Post Filters.
  • [New Feature] Supported added for Panasonic MinasA5 series EtherCAT drives.
  • [General Change] FilterLowPassSet(double) is deprecated. Please use PostFilterLowPassSet(int, double) instead where int is the Post Filter number.
  • [Bug Fix] Fixed a bug where RapidSetup would load bad PostFilter values from a corrupted XML file.
  • [Bug Fix] Fixed a bug with SampleRateSet which caused an Access Violation Exception.

6.2.12

  • [General Change] NetworkNode::HasIO() always returns true for EtherCAT nodes
  • [New Feature] MFC Runtime DLL included in release for RMP MotionScope
  • [Bug Fix] Fixed errors trying to use axis after re-initializing EtherCat network
  • [Bug Fix] Fixed the Incorrect display of Controller I/O for the RMP

6.2.11 2015-03-12

  • [General Change] Axis and MultiAxis Motion ID methods use uint16 data type
  • [General Change] RapidSetup dependencies included in RapidSetup.exe.

6.2.10 2015-03-03

  • [New Feature] ServiceChannelRead/Write overload for string values
  • [New Feature] AMC Digital Input support for General and Dedicated IO

6.2.9 2015-02-19

  • [Bug Fix] Corrected EL1088/EL1008 Labels

6.2.8 2015-02-19

  • [New Feature] Support for Beckhoff EL1088 Digital Input Modules

6.2.7 2015-02-16

  • [New Feature] Support for Beckhoff 2521 Step Pulse Train

6.2.6 2015-02-06

  • [General Change] Classify EtherCAT nodes using Vendor ID and Product Code

6.2.5 2014-12-09

  • [New Feature] HomeLimitCustomConfigSet method added to enable homing from any input bit on the network
  • [New Feature] RMPNetwork supports some Realtek and Broadcom gigabit NICs
  • [Bug Fix] RMP NetworkInput (and Output) names now stored in RapidCodeNetwork

6.2.4 2014-11-14

  • [General Change] RapidCode for RMP requires Administrator privileges
  • [New Feature] New Methods to double check previous Home Set Methods.
  • [New Feature] Axis::HomeMethodGet()
  • [New Feature] Axis::HomeOffsetGet()
  • [New Feature] Axis::HomeVelocityGet()
  • [New Feature] Axis::HomeSlowVelocityGet()
  • [New Feature] Axis::HomeAccelerationGet()
  • [New Feature] Axis::HomeDecelerationGet()
  • [New Feature] Axis::HomeJerkPercentGet()
  • [New Feature] Axis::HomeCaptureTypeGet()
  • [New Feature] Axis::HomeCaptureMotorFeedbackGet()

6.2.3 2014-10-21

  • [New Feature] Support for SynqNet 04.03.11

6.2.2 2014-09-18

  • [Bug Fix] RMPNetwork GPF after shutdown due to linker mismatch

6.2.1 2014-08-26

  • [New Feature] RMP and RMPNetwork built for INtime 5.2.14045.2
  • [Bug Fix] RMPNetwork rebooting when restarted due to uninitialized topology memory

6.2.0 2014-08-21

  • [General Change] RSI::RapidCode::SynqNet namespace changed to RSI::RapidCode
  • [General Change] RapidCode objects throw RsiError const& instead of RsiError* (C++ only)
  • [General Change] RapidSetup only sets Home action to STOP for SynqNet when homing
  • [General Change] MotionController object counts are refreshed automatically when the EtherCAT network reaches operational state
  • [New Feature] RapidSetup can start network in PREOPERATIONAL state
  • [New Feature] NetworkStartMode parameter for NetworkStart() overload
  • [New Feature] NetworkLogMessageGet for reading NetworkStart() log messages
  • [New Feature] RapidSetup shows network error messages if state transitions from OPERATIONAL
  • [New Feature] Axis homing supports homing without Position Capture
  • [Bug Fix] FeedRateSet throwing unexpected error

6.1.23 2014-06-03

  • [New Feature] NetworkNode supports ServiceChannel (SDO) and ASCII commands
  • [New Feature] MotionController::CreateFromSoftware() has optional working directory parameter
  • [General Change] UserLimitOutSet now works with andMask & orMask. An overload for valueSet has been added to preserve old behavior.

6.1.22 2014-05-14

  • [General Change] Axis::FeedbackDeltaPointerGet now returns a host address
  • [New Feature] NetworkNode Analog Input/Output support
  • [New Feature] MechaWare PIV Gain Table and Reset blocks supported in RapidCode/Setup

6.1.21 2014-03-26

  • [New Feature] Support for SynqNet 04.03.08
  • [New Feature] PositionSet added to RapidSetup Axis Command Position
  • [New Feature] MechaWare PID Gain Table Block supported in RapidCode/Setup
  • [New Feature] Network IO methods for EtherCAT
  • [New Feature] MotorType added as top-level element in Axis XML configuration
  • [New Feature] MotionController::ProcessorUsageClear (double-click in RapidSetup to clear)
  • [General Change] Selecting Stepper Loopback in RapidSetup disables Encoder Ratio control

6.1.20 2014-01-09

  • [New Feature] SynqNetInit() added to .NET libraries

6.1.19 2013-12-05

  • [New Feature] MotionController::NetworkTypeGet method
  • [New Feature] NetworkStart, Shutdown methods added for EtherCAT
  • [New Feature] IOPoint analog values accessible in .NET libraries
  • [Bug Fix] Capture objects not enabled properly with greater than 16 axes
  • [Bug Fix] IOPoint analog values now function correctly

6.1.18 2013-10-31

  • [New Feature] RapidSetup AKD SynqNet firmware download
  • [New Feature] Kollmorgen AKD SynqNet drive monitor support
  • [Bug Fix] RapidSetup file download GUI hangs

6.1.17 2013-09-27

  • [New Feature] SynqNet 04.03.05 support with AKD firmware 1.10 for smoother amp enable

6.1.16 2013-07-23

  • [General Change] RsiError inherits from std::exception
  • [General Change] RSIMotionAttrMask values changed
  • [Bug Fix] APPEND motion attribute mask not working

6.1.15 2013-06-26

  • [New Feature] rsiconfig.exe command-line utility for reading/writing configurations
  • [Bug Fix] Serialized/XML Axis not disposing of its resources properly

6.1.14 2013-06-24

  • [New Feature] RapidSetup Axis Origin shown if Actual Position label is clicked
  • [Bug Fix] Phantom axes displayed under Node 1 in RapidSetup

6.1.13 2013-06-14

  • [Bug Fix] Additional thread-safe locking added to InterruptMaskSet()

6.1.12 2013-06-11

  • [New Feature] RapidSetup Axis tab page remembered when switching
  • [Bug Fix] RapidSetup not restarted after setting Axis or Motion count

6.1.11 2013-06-06

  • [New Feature] NetworkStateGet, Shutdown method for SynqNet or EtherCAT
  • [New Feature] RapidCodeNetworkNode object
  • [New Feature] EtherCAT node topology discovery
  • [New Feature] RapidSetup displays network counter
  • [Bug Fix] MotionController software and firmware version info out of scope
  • [Bug Fix] RapidSetup Axis screen display precision not updating after downloading from XML
  • [Bug Fix] RapidSetup Diagnostics screen displaying multiple instances
  • [General Change] RapidSetup replication copies label xml and ini files when creating replication
  • [General Change] RapidSetup replication restore option removed

6.1.10 2013-04-26

  • [New Feature] RapidSetup diagnostic screen
  • [New Feature] Network diagnostic methods work for SynqNet and EtherCAT - NetworkNodeCountGet(), etc.
  • [New Feature] New Trace types CUSTOM and TIME
  • [New Feature] MultAxis AxesAdd method to add multiple Axis objects at once
  • [General Change] Axis UserUnits removed from RapidSetup INI file
  • [Bug Fix] Additional thread-safe locking to MultiAxis AxisAdd, AxesAdd, AxisRemoveAll methods
  • [Bug Fix] MultiAxisGet does not report an error when passed an invalid motionNumber.
  • [Bug Fix] MotionController::InterruptWake() not waking MotionController::InterruptWait()

6.1.9 2013-03-18

  • [New Feature] Support for QMP-PCIe
  • [Bug Fix] Additional thread-safe locking added to StateGet() and all Move methods

6.1.8 2013-03-01

  • [General Change] MSVC++ 2005 Redistributable updated to 8.0.50727.6195 and MSVC++ 2010 Redistributable added
  • [General Change] CapturePositionGet now scaled by encoder ratio when relevant
  • [New Feature] EncoderRatioPrimary/SecondaryGet/Set with strings for use with Axis XML
  • [Bug Fix] CaptureConfigSet ignoring PRIMARY vs SECONDARY feedback parameter

6.1.7 2013-02-22

  • [New Feature] Axis/MultiAxis MotionHoldGateNumberGet/Set and MotionController MotionHoldGateSet

6.1.6 2013-02-19

  • [Bug Fix] Motion Hold Gate logic inverted
  • [Bug Fix] AxisCountSet should never decrease MotionCount
  • [New Feature] Support for SynqNet 04.03 releases

6.1.5 2013-01-11

  • [General Change] Axis::CommandPositionSet() reverts to SynqNet 3 behavior (uses Origin internally)
  • [New Feature] Axis::CommandPositionDirectSet() enables direct setting of command position
  • [Bug Fix] Vector Velocity and Acceleration not updating between Path segments

6.1.4 2013-01-03

  • [New Feature] Raw CapturePosition in RapidSetup (not scaled by Origin or UserUnits)
  • [New Feature] SynqNetSystem DLL for .NET 4.0
  • [General Change] 32-bit float values now 64-bit double precision. Tolerances, durations, feedrates, Stop times, etc.
  • [General Change] read-only Axis XML files are allowed
  • [Bug Fix] MultiAxis motions now use absolute value of velocities, accelerations, etc. if UserUnits are negative

6.1.3 2012-11-07

  • [General Change] Axis PositionSet uses CommandOriginSet and AmpEnableSet uses CommandPositionSet
  • [General Change] Stepper motor Axis can only use PositionSet when amp is enabled
  • [Bug Fix] Axis XML file stream not closed
  • [Bug Fix] Axis XML now ignores SqNodeUserFaultAddress,MotionHoldUserAddress, and OriginPosition
  • [Bug Fix] Axis XML now deletes temporary drive parameter file
  • [Bug Fix] Axis XML restores ThrowExceptions to default (true) when saving to / restoring from XML
  • [Bug Fix] Axis SourceGet now reports NODE_FAILURE correctly when any Node has failed

6.1.2 2012-10-25

  • [General Change] Updates for SynqNet 4.2 Production Release

6.1.1 2012-10-02

  • [New Feature] Fastech stepper drive support and automatic setup
  • [New Feature] Stepper motor pulse configuration methods
  • [General Change] Axis::PositionSet now works with stepper motors
  • [General Change] Axis::PositionSet COMMAND_NOT_SET now treated as error, not warning

6.1.0 2012-09-05

  • [New Feature] QMP motion controller and SynqNet 4.2 support
  • [New Feature] S-curve path planning type
  • [General Change] Standard data types modified for future 64-bit support
  • [General Change] BEFORE_SYNQNET_0402 preprocessor definition required if using SynqNet 4.0 or 4.1
  • [General Change] MotionController Reset() now deletes the control handle before resetting
  • [General Change] Stop() no longer throws exception if already stopped or stopping
  • [General Change] Homing methods 23, 25, 27 and 29 modified for consistent capture direction
  • [Bug Fix] RapidSetup velocity goto labels not updating
  • [Bug Fix] RapidSetup homing using status caching, causing capture errors

6.0.12 `2012-08-14

  • [Bug Fix] Axis SourceGet() correctly reports HOME (Capture Status) source
  • [Bug Fix] Homing move-to-zero feature now works without going to STOPPING or STOPPED state
  • [New Feature] Homing now supports S-Curve velocity profiles
  • [New Feature] RapidSetup implements more data caching for better performance
  • [General Change] Homing now defaults to time-based position capture

6.0.11 2012-07-25

  • [Bug Fix] Axis default velocity no longer checked in MoveVelocity()
  • [Bug Fix] Axis GearingEnable() now sets axis/motor number properly when using FEEDBACK sources
  • [Bug Fix] Axis GearingMasterAxisNumberGet() and GearingSourceGet() now read current values from the controller
  • [General Change] RapidSetup stores SynqNet folder info for CurrentUser, not LocalMachine
  • [General Change] RapidSetup no longer requires Administrator privileges

6.0.10 2012-07-02

  • [New Feature] UserLimitStatus added to ControllerAdddressType
  • [Bug Fix] RapidSetup relative motion goto positions not updating

6.0.9 2012-05-25

  • [New Feature] LimitEnabledMask added to ControllerAdddressType

6.0.8 2012-05-23

  • [New Feature] Simulation server and RMP controller support
  • [Bug Fix] RapidSetup Position Capture supports 64 axes

6.0.7 2012-04-02

  • [New Feature] SyncInterrupt for .NET

6.0.6 2012-02-27

  • [New Feature] RapidSetup now supports editing of PID values in MechaWare models
  • [Bug Fix] EMPTY_COUNT attribute now supported for PT and PVT motion types

6.0.5 2012-02-07

  • [New Feature] RSIQDNET and RSIQDNET4 signed with a strong name

6.0.4 2012-01-18

  • [General Change] MultiAxisGet() now requires MotionSupervisorNumber parameter, must be >= Axis count
  • [General Change] MultiAxis::AxisRemove removed, use AxisRemoveAll instead
  • [General Change] RSI Constants displayed as hexadecimal to eliminate C++ compiler warnings
  • [New Feature] MotionCount configuration added to RapidSetup
  • [New Feature] UserLimitCountGet/Set added to MotionController
  • [New Feature] Kollmorgen AKD support

6.0.3 2011-12-16

  • [Bug Fix] RapidSetup AutoTuner now works with UserUnits
  • [Bug Fix] MotionControllerDigitalIn MaskGet() now works for E-Stop input (bit 6)
  • [Bug Fix] Negative values now allowed for Axis UserUnits

6.0.2 2011-10-24

  • [New Feature] Axis Capture configuration supports drive general purpose I/O
  • [New Feature] MotionController AddressGet() now supports multiple data recorders
  • [General Change] Axis Capture configuration global parameter removed

6.0.1 2011-09-15

  • [New Feature] IO position capture supported for HSIN32
  • [New Feature] Axis XML files from RapidCode 4.x supported
  • [General Change] Setting an Axis to Phantom type no longer disables limits automatically
  • [Bug Fix] MotionController FlashClear() now saves cleared flash

6.0.0 2011-8-03

  • [New Feature] Datatypes redefined for future 64-bit OS support (long becomes int32, etc.)
  • [New Feature] S200 filtered drive velocity now available for Drive Monitor
  • [New Feature] HomeCaptureMotorFeedbackSet added for an Axis that uses secondary feedback
  • [New Feature] RapidSetup supports backlash compensation
  • [New Feature] RapidSetup supports EncoderRatio
  • [New Feature] RapidSetup has better support for European Windows regional settings
  • [New Feature] RapidCodeObject interface added for .NET classes ease-of-use
  • [General Change] 03.03.xx SynqNet releases no longer supported
  • [Bug Fix] Axis CapturePositionGet() only uses UserUnits if the feedbackAxisNumber is the same as the Axis number
  • [Bug Fix] RapidSetup now supports 24A and 48A S200 drives
  • [Bug Fix] Xbox 360 controller right thumbstick processing reversed in RapidSetup
  • [Bug Fix] Xbox 360 controller trigger invert not applied in RapidSetup
  • [Bug Fix] RapidCode works with MechaWare firmware (4.0)
  • [Bug Fix] Axis UserLabel is properly updated from XML in RapidSetup
  • [General Change] RadidSetup homing automatically sets Home action to STOP
  • [General Change] CaptureArm now waits for capture to arm before returning. Overload makes it optional.
  • [General Change] Xbox 360 controller uses cubic function for velocity control
  • [General Change] Xbox 360 controller will Abort all when disconnected in RapidSetup
  • [General Change] RapidSetup goes to FPGA download page if Node MAC mismatch
  • [General Change] MemoryBlockGet/Set now uses arrays for .NET instead of pointers
  • [General Change] Axis XML files now support SqNode properties

4.1.25 2009-4-22

  • [New Feature] Gain Scheduling support added to RapidSetup
  • [New Feature] Final Velocity motion overloads added to Axis

4.1.24 2009-3-27

  • [General Change] Improved support when using MechaWare firmware

4.1.23 2009-3-19

  • [New Feature] Axis::GearingSourceGet() added

4.1.22 2009-2-12

  • [New Feature] InterruptMask methods allow for generating specific interrupts
  • [New Feature] MultiAxis::MoveVectorRelative
  • [New Feature] Axis and MultiAxis MotionIdExecutingGet() returns currently executing MotionID
  • [General Change] Axis::SaveToFlash will now attempt to save SynqNet Topology first
  • [Bug Fix] RapidSetup File->Exit fixed (introduced in 4.1.21)
  • [Bug Fix] IOPoint::MaskGet() not working for Axis Digital Inputs and Outputs
  • [Bug Fix] Axis::SourceGet() won't report SQNODE_USER_FAULT without I/O Abort set

4.1.21 2008-12-02

  • [New Feature] RapidCode IOPoint class added, provides common interface to any SynqNet I/O point
  • [New Feature] RapidSetup can copy Axis settings from another Axis
  • [New Feature] RapidSetup Axis Save-To-Flash moved to context menu (right click)
  • [New Feature] MotionController::SynqNetHotReplaceRestart for using HotReplace
  • [Bug Fix] RapidSetup now compatible with MechaWare firmware
  • [Bug Fix] Axis::AmpEnableSet(true) fails if filter algorithm is set to NONE
  • [Bug Fix] RapidSetup no longer shows warnings when viewing online documentation
  • [Bug Fix] RapidCode object locking initialization

4.1.20 2008-08-20

  • [New Feature] MotionController::RecorderBufferSizeGet/Set helpful when using multiple recorders and high Axis counts
  • [New Feature] MotionDoneWait() now optionally accepts timeoutMilliseconds parameter and returns waited time
  • [New Feature] RapidSetup offers choice of Time or Position Capture for Homing
  • [New Feature] Axis::HomeCaptureTypeSet()
  • [New Feature] RsiError messages now include object number

4.1.19 2008-08-01

  • [New Feature] MotionController::RecorderReset()
  • [New Feature] RSIAxisAddressTypeDEDICATED_OUTPUTS and INPUTS
  • [New Feature] RSIControllerAddressTypeUSER_BUFFER
  • [New Feature] MultiAxis Motion Hold now supported
  • [Bug Fix] Axis::MotionHoldPositionGet/Set should not be scaled by UserUnits

4.1.18 2008-07-25

  • [New Feature] Axis::FilterDualLoopSet utilizes load and motor encoders for PIV dual loop control
  • [New Feature] MotionController now supports up to 32 data Recorders
  • [New Feature] RapidSetup new Axis tab for setting Actions and Limits
  • [New Feature] RapidSetup now displays MotorTorque Drive Monitor for Yaskawa

4.1.17 2008-06-06

  • [New Feature] Axis::Home(bool moveToZero) added, for optionally moving to Zero after homing (also in RapidSetup)
  • [New Feature] MotionController:CommandAction for commanding an action with a Sequencer
  • [Bug Fix] RapidSetup brake mode and settings not applied

4.1.16 2008-05-21

  • [New Feature] MotionController:ExternalMemorySizeGet helps when resizing Axis frame buffers or Recorder buffer
  • [New Feature] Axis::FramesToExecuteGet
  • [General Change] Axis::MoveCamLinear and MoveCamCubic now use double arrays, instead of 32-bit integers

4.1.15 2008-04-30

  • [New Feature] Axis::EncoderMultiTurnReset in RapidCode and RapidSetup
  • [New Feature] MotionController::ProcessorUsageGet in RapidCode and RapidSetup – helps determine maximum sample rates

4.1.14 2008-04-14

  • [New Feature] MultiAxis user interface added to RapidSetup (Absolute, Relative, Velocity, PT)
  • [New Feature] Axis Filter Gain Scheduling – Axis can change gain tables automatically
  • [New Feature] Axis::UserLimitReset(...) used to clear latched UserLimits
  • [Bug Fix] PathTimeSliceSet did not set internal value

4.1.13 2008-02-26

  • [New Feature] RapidSetup – Drive Monitor support

4.1.12 2008-01-31

  • [New Feature] MotionController::RecorderBufferHighCountSet
  • [New Feature] RapidSetup – Xbox 360 Controller support for jogging
  • [New Feature] Axis::DefaultVelocityGet/Set
  • [New Feature] Axis::DefaultAccelerationGet/Set
  • [New Feature] Axis::DefaultDecelerationGet/Set
  • [New Feature] Axis::DefaultJerkPercentGet/Set
  • [New Feature] Enumerations added for 32bit LSB and MSB position recording for 64-bit positions
  • [Bug Fix] MovePT and MovePVT did not use UserUnits correctly
  • [General Change] MovePT and MovePVT now internally enable interrupts, so the library can stream points

4.1.11 2007-12-14

  • [Bug Fix] MultiAxis::PathRatioSet did not set internal ratio values correctly

4.1.10 2007-11-28

  • [New Feature] RapidSetup – Kollmorgen S300 supported in drive tab

4.1.9 2007-10-24

  • [New Feature] Axis::GantryTypeGet and Set
  • [New Feature] Axis::FeedbackDeltaPointerGet and Set
  • [New Feature] Axis::EncoderCountGet and Set

4.1.5 2007-09-27

  • [New Feature] Axis and MultiAxis MotionAttributeMaskOn/MaskOff(...) Get and Set methods added

4.1.4

  • [New Feature] RapidSetup – Glentek - Added capability to read Proportional Current Gain and Integral Current Gain

4.1.3 2007-09-08

  • [New Feature] Axis::EncoderRatioSet used to provide a ratio for raw encoder values (requires 03.04.xx SynqNet or newer)
  • [Bug Fix] InterruptWake() no longer throws exception

4.1.2 2007-08-07

  • [Bug Fix] Axis::Address get modified for differences between XMP and ZMP hardware

4.1.0 2007-07-23

  • [New Feature] UserLabelGet/Set methods added to Axis, MotionController, SqNode
  • [New Feature] MotionController::UserVersionGet/Set
  • [New Feature] MotionController::SynqNetIdleCableNumberGet
  • [New Feature] MotionController::RecorderConfigureToTriggerOnMotion
  • [New Feature] MotionController::RecorderRecordDataRetrieve
  • [New Feature] MotionController::RecorderRecordDataValueGet
  • [New Feature] MotionController::Custom97VersionGet and other Custom97 methods
  • [New Feature] Axis::ActualVelocityGet
  • [New Feature] Axis::EncoderScaleGet/Set (SynqNet version 03.03.xx and older only)
  • [New Feature] Axis::EncoderPointerGet/Set
  • [New Feature] Axis::MotorDemandModeGet/Set
  • [New Feature] Axis::MotorFaultMaskGet/Set
  • [New Feature] Axis::StepperMotorLoopbackGet/Set
  • [New Feature] Axis::MotionCamRepeatStop
  • [New Feature] Axis::DriveParameterFileGet/Set
  • [New Feature] MultiAxis::Map/Unmap
  • [New Feature] RapidCodeSqNode::DriveParamRestore

4.0.3 2006-12-06

  • [New Feature] RapidSetup – Version Management feature for automatic upgrades to latest SynqNet versions
  • [General Change] RsiError class moved to RSI.RapidCode.dotNET namespace in .NET (C#) assembly DLL (also supports error log)
  • [General Change] MultiAxis motion methods now require that individual axis positions, etc. are given in UserUnits
  • [Bug Fix] Axis::AmpEnableSet() contained an uninitialized variable which could cause unintended motors to be enabled

4.0.2 2006-10-05

  • [New Feature] RapidSetup – "Send to RSI" feature allows uploading of version and exception info to www.roboticsys.com
  • [New Feature] RapidSetup – screen introduced for SqNode information and FPGA download
  • [New Feature] RapidSetup – Version Utility added to MotionController form and Tools menu
  • [Bug Fix] DriveFirmware version and download methods added to Axis class and RapidSetup
  • [Bug Fix] PIV Support for FilterCoeffGet/Set methods restored
  • [General Change] PathRatioSet(...) can now be used before PathListStart(...)

4.0.1 2006-08-02

  • [New Feature] MultiAxis::FeedRateGet & MultiAxis::FeedRateSet added.
  • [Bug Fix] RapidSetup – SqNode Flash Download button can't find default filename
  • [Bug Fix] Settling Criteria values need absolute values when using negative user Units
  • [Bug Fix] Velocity tolerance not scaled by User Unit
  • [General Change] RapidSetup – set fixed point scaling on command, Actual, and Error positions when using User Units
  • [Bug Fix] RapidSetup Set Digital Output State does set the output of the slice IO
  • [Bug Fix] RapidSetup Node Error array past index with more than 6 nodes on a ring
  • [Bug Fix] RapidSetup Glentek Omega tab fails to update Current Limit Trip Current and Trip Time under the Motor Safety Tab
  • [Bug Fix] RapidSetup – Space Bar not causing Abort action in Axis screen
  • [Bug Fix] RapidSetup – Enter key causes button press when setting filter gains

4.0.0 `2006-06-19
Please see our Upgrade Document for a more complete guide.

  • [General Change] Many methods changed to use enumeration values instead of longs
  • [General Change] Axis and IO now contain SqNode class
  • [General Change] RapidCode Objects Renamed
  • [General Change] Objects are created and initialized from the MotionController Class

2.2.19 = 2006-04-11

  • [New Feature] E-Stop, Modify action now supported – specify decel rate instead of decel time
  • [New Feature] UserUnits added to RsiAxis and RapidSetup
  • [New Feature] Segment info and I/O methods added to RsIO
  • [New Feature] Resume method added to RsiMultiAxis
  • [New Feature] TargetPositionGet() added to RsiAxis.

2.2.18 = 2006-03-06

  • [New Feature] All 30+ Home Methods now supported in RsiAxis and RapidSetup
  • [Bug Fix] RsiAxis::SaveToFlash was modified internally to execute about 3x faster (was ~50 seconds, now ~15 seconds)
  • [Bug Fix] RapidSetup drive parameter list is now cleared when switching to another RsiAxis
  • [Bug Fix] RsiAxis::Home didn't verify capture status in 2.2.17 before setting home state = true
  • [New Feature] RsiAxis::SourceNameGet added to get text about error sources. Also added to RapidSetup below Axis State.
  • [New Feature] DriveIndexGet added to RsiAxis to get drive index for multi-drive SqNodes.
  • [New Feature] User Fault and Node Failure Action Get/Set methods added to RsiAxis
  • [New Feature] Auto-tuning capability in RapidSetup

2.2.17 = 2006-01-30

  • [Bug Fix] RsiController::FirmwareUpload did not need to create internal flash object
  • [New Feature] RsiAxis::HomeStateGet/Set now reads/writes the home state to the controller's memory, though it cannot be saved to flash.
  • [New Feature] Drive Fault and Drive Warning methods added to RsiAxis and RapidSetup
  • [New Feature] MovePT(...) and MovePVT(...) added to RsiAxis
  • [Bug Fix] SynqNetTopologySave/Clear not saving/clearing topology correctly in flash memory
  • [New Feature] SqNode Packet Error and CRC Error status methods added
  • [New Feature] HomeCancelSet() added to RsiAxis
  • [New Feature] MemoryBlockGet/Set added to RsiController

2.2.16 = 2006-01-10

  • [New Feature] RsiError members added: functionName, lineNumber and shortText
  • [New Feature] Drive Monitor features added to RsiAxis
  • [New Feature] RsiAxis Home methods can be cancelled with E-Stop or Abort
  • [New Feature] SqNode I/O Abort configuration methods added to RapidCode

2.2.15 = 2005-12-15

  • [Bug Fix] RapidSetup RsiAxis General Inputs state displayed incorrectly

2.2.14 = 2005-12-09

  • [New Feature] RsiAxis::DirectionInvertGet/Set can invert the polarity of the filter output and the actual position
  • [General Change] RsiController Digital I/O methods changed to accept bit number parameters instead of bit mask.

2.2.13 = 2005-11-18

  • [New Feature] RSISynqNetCableStatus enumeration adds BUSY status.

2.2.12 = 2005-11-11

  • [New Feature] SynqNetRecoveryModeGet/Set methods added to RsiController and RapidSetup
  • [New Feature] SynqNetCableIdleStatusGet() method added to RsiController
  • [New Feature] RapidSetup: RsiAxis Dedicated and General Purpose I/O now based on Node resources
  • [General Change] RsiAxis::DigitalInGet/Set methods changed to accept bitNumber instead of bitMask. Use enum ::RSIMotorGeneralIo.

2.2.11 = 2005-10-28

  • [New Feature] RapidCode DLL files contain RSI and MPI versions in File Properties
  • [New Feature] RsiAxis::DriveParamGet/Set methods added
  • [New Feature] RapidSetup now supports Drive Parameter for most SynqNet drives.
  • [New Feature] RsiController::SequencerStateGet method added
  • [General Change] JerkPercent parameter added to RsiController::CommandMoveVelocity method
  • [Bug Fix] RapidSetup RsiIO Digital Out and Analog Out could be blocked by "Set" buttons
  • [General Change] RapidSetup pressing SynqNet Network Initialize will now refresh the TreeView
  • [General Change] SqNodeDriveParam methods no longer require driveIndex parameter.

2.2.10 = 2005-10-19

  • [New Feature] Methods added for reading SqNode I/O addresses and masks in RsiAxis, RsiIO
  • [New Feature] RsiController methods to get addresses from string and converting to firmware addresses
  • [New Feature] Preliminary Sequencer support added to RsiController
  • [New Feature] RapidSetup TreeView shows SynqNet Nodes with RsiAxis and RsiIO objects
  • [Bug Fix] RapidSetup resizing causes problems with TreeView
  • [Bug Fix] RapidSetup - RsiAxis Save to Flash button works intermittently (also moved beneath Amp Enable)

2.2.9 2005-10-05

  • [Bug Fix] RsiAxis::SaveToFlash() fails if SqNode does not exist.
  • [New Feature] Camming methods added to RsiAxis
  • [New Feature] RsiAxis frame buffer size get/set methods added
  • [New Feature] New RsiController::Interrupt methods added for processing all interrupts
  • [Bug Fix] ZMP Controller I/O fixed as 3 Outputs and 4 Inputs. Updated in RapidSetup.
  • [New Feature] PathPointAdd() and PathArcAdd() now support changing VectorVelocity and VectorAcceleration inside a PathList.
  • [New Feature] RapidCode available as static library
  • [Bug Fix] RsiAxis::MoveVelocitySCurve(...) causes "Invalid Parameter" error
  • [General Change] RsiController::Interrupt methods renamed to SyncInterrupt methods

2.2.8 2005-08-18

  • [Bug Fix] RSIMotorTypePHANTOM not working properly in RapidSetup. This is a useful feature for simulating an axis.
  • [New Feature] Configuration for closed-loop stepper added to RsiAxis (custom firmware required)
  • [Bug Fix] FirmwareDevelopmetIDGet() spelled incorrectly in RsiController. Changed to FirmwareDevelopmentIDGet().

2.2.7 2005-08-08

  • [New Feature] SqNode ServiceCommand method added to RsiIO and RsiAxis classes in RapidCode
  • [New Feature] RsiAxis Electronic Gearing master sources now include Primary and Secondary motor encoders

2.2.6 2005-07-18

  • [New Feature] Low Pass Filter methods added to RsiAxis
  • [Bug Fix] Analog Output values in RsiIO not working in RapidSetup
  • [Bug Fix] Motor Outputs selected (for setting state) in RapidSetup easier to see
  • [New Feature] SqNode Drive Parameter methods added to RsiIO and RsiAxis classes in RapidCode
  • [New Feature] Display Primary and Secondary motor encoder feedback in RapidSetup

2.2.5 2005-06-08

  • [New Feature] RsiIO interface in RapidSetup
  • [New Feature] Data Recorder methods for RsiController class

2.2.4 2005-05-27

  • [New Feature] Add methods to Get/Set up to 32 bits of Digital I/O in RsiIO

2.2.3 2005

  • [General Change] Timeout (milliseconds) parameter added to InterruptWait in RsiAxis and RsiMulitAxis

2.2.2 2005

  • [Bug Fix] RsiAxis::PositionSet sets incorrect value
  • [Bug Fix] RapidSetup should only allow one RsiController to be initialized.

2.2.1 2005

  • [General Change] NodeStatusBitGet() changed to SqNodeStatusBitGet()
  • [New Feature] MoveVelocity() and MoveSCurve() methods for RsiMultiAxis
  • [New Feature] InterruptWake methods for RsiController, RsiAxis, RsiMultiAxis

2.2.0 2005

  • [General Change] AddAxis() changed to AxisAdd() in RsiMultiAxis
  • [General Change] ErrorLogGet() will now return RsiError* instead of accepting it as a parameter
  • [New Feature] RsiIO class interface

2.1.1963 2005

  • [Bug Fix] RsiMultiAxis::MoveTrapezoidal requires unsafe code in C#
  • [Bug Fix] RsiMultiAxis::MoveTrapezoidal throws error if in motion