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 |