The RMP Motion Controller APIs

The IO object provides an interface to the inputs and outputs of a network node. More...


const char *const UserLabelGet ()
 Get the IO User defined Label.
void UserLabelSet (const char *const userLabel)
 Set the IO User defined Label.
bool IOExists ()
 IOExists validates your IO object is an IO Node.
int32_t NumberGet ()
 Get the zero-based IO number.
bool DigitalInGet (int32_t digitalInNumber)
 Get the state of a digital input bit.
bool DigitalOutGet (int32_t digitalOutNumber)
 Get the state of a Digital Output bit.
void DigitalOutSet (int32_t digitalOutNumber, bool outValue)
 Set the state of a digital output bit.
int32_t AnalogInGet (int32_t analogChannel)
 Get the value of an analog input.
int32_t AnalogOutGet (int32_t analogChannel)
 Get the value of an analog output.
void AnalogOutSet (int32_t analogChannel, int32_t analogValue)
 Set the value of an analog output.
const char *const VersionGet ()
 Get the RSI RapidCode version.
int32_t MpiVersionMajor ()
 Get the major MPI version.
int32_t MpiVersionMinor ()
 Get the minor MPI version.
int32_t MpiVersionRelease ()
 Get the release MPI version.
int32_t RSIVersionMajor ()
 Get the major RSI version.
int32_t RSIVersionMinor ()
 Get the minor RSI version.
int32_t RSIVersionMicro ()
 Get the micro RSI version.
int32_t RSIVersionPatch ()
 Get the patch RSI version.
int32_t ErrorLogCountGet ()
 Get the number of software errors in the error log.
const RsiError *const ErrorLogGet ()
 Get the next RsiError in the log.
void ErrorLogClear ()
 Clear the error log.
void ThrowExceptions (bool state)
 Configure a class to throw exceptions.
const char *const RsiErrorMessageGet (RSIErrorMessage msg)
 Get the RSI-specific error message text for a specific RSIErrorMessage.
const char *const ErrorMessageGet (RSIErrorMessage msg)
 Get the detailed text message for an RSIErrorMessage.
bool WarningMsgCheck (RSIErrorMessage msg)
 Check to see if an RSIErrorMessage is a warning (true) or not (false).
void Trace (bool state)
 Enables/Disables trace output.
void TraceMaskOnSet (RSITrace maskOn)
 Turn on a particular trace output mask.
bool TraceMaskOnGet (RSITrace maskOn)
 Check to see if a particular trace output mask is turned on.
void TraceMaskOffSet (RSITrace maskOff)
 Turn off a particular trace output mask.
void TraceMaskClear ()
 Clear the trace output mask.
void TraceFileSet (const char *const fileName)
 Channels Tracing messages to specified file.
void TraceFileClose ()
 Stops Logging to the file.
void TraceInjectMessage (RSITrace traceLevel, const char *const message)
 Add a message to the Trace Log.


 Gets the parent NetworkNode object.
 Gets the parent MotionController object.


An IO node can have various combinations of digital or analog inputs and outputs. IO objects contain a RapidCodeNetworkNode.

Definition at line 11819 of file rsi.h.