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The RMP Motion Controller APIs
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The RMP Motion Controller APIs
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The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects. More...
Functions | |
| bool | Exists () |
| Returns true if this NetworkNode exists on a physical network. | |
| RSINodeType | TypeGet () |
| Get the node type, as determined by the Vendor ID and Product Code. | |
| bool | IsEtherCAT () |
| Check if the node is EtherCAT. | |
| bool | IsSynqNet () |
| Check if the node is SynqNet. | |
| bool | HasIO () |
| Returns true if the node has any kind of inputs or outputs (analog/digital). | |
| bool | DigitalInGet (int32_t digitalInNumber) |
| Get the state of a digital input. | |
| bool | DigitalOutGet (int32_t digitalOutNumber) |
| Get the state of a digital output. | |
| void | DigitalOutSet (int32_t digitalOutNumber, bool state) |
| Set the state of a digital output. | |
| 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. | |
| int32_t | DigitalInCountGet () |
| Get the number of digital inputs on this node. | |
| int32_t | DigitalOutCountGet () |
| Get the number of digital outputs on this node. | |
| int32_t | AnalogInCountGet () |
| Get the number of analog inputs on this node. | |
| int32_t | AnalogOutCountGet () |
| Get the number of analog outputs on this node. | |
| int32_t | SegmentCountGet () |
| Get the number of segments on this node. | |
| int32_t | SegmentDigitalInCountGet (int32_t segmentNumber) |
| Get the number of digital inputs on a segment. | |
| int32_t | SegmentDigitalOutCountGet (int32_t segmentNumber) |
| Get the number of digital outputs on a segment. | |
| int32_t | SegmentAnalogInCountGet (int32_t segmentNumber) |
| Get the number of analog inputs on a segment. | |
| int32_t | SegmentAnalogOutCountGet (int32_t segmentNumber) |
| Get the number of analog outputs on a segment. | |
| int32_t | SegmentIDGet (int32_t segmentNumber) |
| Get the ID number of a segment. | |
| uint64_t | DigitalInAddressGet (int32_t bitNumber) |
| Get the controller memory address for a Node's digital input. More... | |
| int32_t | DigitalInMaskGet (int32_t bitNumber) |
| Get the bitwise mask for a Node's digital input. More... | |
| uint64_t | DigitalOutAddressGet (int32_t bitNumber) |
| Get the controller memory address for a Node's digital output. More... | |
| int32_t | DigitalOutMaskGet (int32_t bitNumber) |
| Get the bitwise mask for a Node's digital output. More... | |
| uint64_t | AnalogInAddressGet (int32_t channel) |
| Get the controller memory address for a Node's analog input. More... | |
| int32_t | AnalogInMaskGet (int32_t channel) |
| Get the bitwise mask for a Node's analog input. More... | |
| uint64_t | AnalogOutAddressGet (int32_t channel) |
| Get the controller memory address for a Node's analog output. More... | |
| int32_t | AnalogOutMaskGet (int32_t channel) |
| Get the bitwise mask for a Node's analog output. More... | |
| int32_t | ServiceChannelRead (int32_t index, int32_t subIndex, int32_t byteCount) |
| Read a number from the SDO. More... | |
| int32_t | ServiceChannelRead (int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) |
| Read a number from the SDO. More... | |
| const char *const | ServiceChannelReadString (int32_t index, int32_t subIndex, int32_t byteCount) |
| Read a string from the SDO. More... | |
| const char *const | ServiceChannelReadString (int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) |
| Read a string from the SDO. More... | |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) |
| Write a number in the SDO. More... | |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) |
| Write a number in the SDO. More... | |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, const char *const stringValue) |
| Write a string in the SDO. More... | |
| void | ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, const char *const stringValue, uint32_t timeoutMilliseconds) |
| char * | AKDASCIICommand (const char *const command) |
| Send a Kollmorgen AKD ASCII command (NodeType must equal KOLLMORGEN_AKD) More... | |
| void | ClearFaults (int32_t axisNumber) |
| Clear the faults for a specific axis number on this node. | |
| uint32_t | VendorIdGet () |
| Get the EtherCAT vendor ID. | |
| const char *const | NameGet () |
| Get the Node's Short Name that appears on NodeInfo.xml. More... | |
| const char *const | ProductNameGet () |
| Get the Node's Product/Long Name that appears on NodeInfo.xml. More... | |
| const char *const | VendorNameGet () |
| Get the Node's Vendor Name that appears on NodeInfo.xml. More... | |
| uint32_t | ProductCodeGet () |
| Get the EtherCAT product code. | |
| uint32_t | RevisionGet () |
| Get the EtherCAT hardware revision. | |
| uint32_t | StationAliasGet () |
| Get the EtherCAT station alias. | |
| const char *const | SerialNumberGet () |
| Get the serial number as text. | |
| uint32_t | AxisCountGet () |
| uint16_t | StatusWordGet (int32_t axisIndex) |
| Get the DS402 status word. | |
| const char *const | VersionGet () |
| Get the RSI RapidCode version. More... | |
| 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 | NumberGet () |
| Get the zero-based index of this object. More... | |
| int32_t | ErrorLogCountGet () |
| Get the number of software errors in the error log. More... | |
| const RsiError *const | ErrorLogGet () |
| Get the next RsiError in the log. More... | |
| void | ErrorLogClear () |
| Clear the error log. More... | |
| void | ThrowExceptions (bool state) |
| Configure a class to throw exceptions. More... | |
| 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. More... | |
| void | TraceMaskOnSet (RSITrace maskOn) |
| Turn on a particular trace output mask. More... | |
| bool | TraceMaskOnGet (RSITrace maskOn) |
| Check to see if a particular trace output mask is turned on. More... | |
| void | TraceMaskOffSet (RSITrace maskOff) |
| Turn off a particular trace output mask. More... | |
| void | TraceMaskClear () |
| Clear the trace output mask. More... | |
| void | TraceFileSet (const char *const fileName) |
| Channels Tracing messages to specified file. More... | |
| void | TraceFileClose () |
| Stops Logging to the file. More... | |
| void | TraceInjectMessage (RSITrace traceLevel, const char *const message) |
| Add a message to the Trace Log. More... | |
Static Attributes | |
Default time to wait when reading or writing an SDO with ServiceChannelRead() or ServiceChannelWrite(). | |
| static constexpr uint32_t | SDOTimeoutMillisecondsDefault = 100 |
1.8.20