RapidCodeNetworkNodeabstract

The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects. More...

Functions

virtual int32_t AnalogInGet (int32_t analogChannel)=0
 Get the value of an analog input.
 
virtual int32_t AnalogOutGet (int32_t analogChannel)=0
 Get the value of an analog output.
 
virtual void AnalogOutSet (int32_t analogChannel, int32_t analogValue)=0
 Set the value of an analog output.
 
virtual bool DigitalInGet (int32_t digitalInNumber)=0
 Get the state of a digital input.
 
virtual bool DigitalOutGet (int32_t digitalOutNumber)=0
 Get the state of a digital output.
 
virtual void DigitalOutSet (int32_t digitalOutNumber, bool state)=0
 Set the state of a digital output.
 
virtual bool Exists ()=0
 Returns true if this NetworkNode exists on a physical network.
 
virtual bool HasIO ()=0
 Returns true if the node has any kind of inputs or outputs (analog/digital).
 
virtual RSINodeType TypeGet ()=0
 Get the node type, as determined by the Vendor ID and Product Code.
 
virtual int32_t DigitalInCountGet ()=0
 Get the number of digital inputs on this node.
 
virtual int32_t DigitalOutCountGet ()=0
 Get the number of digital outputs on this node.
 
virtual int32_t AnalogInCountGet ()=0
 Get the number of analog inputs on this node.
 
virtual int32_t AnalogOutCountGet ()=0
 Get the number of analog outputs on this node.
 
virtual int32_t SegmentCountGet ()=0
 Get the number of segments on this node.
 
virtual int32_t SegmentDigitalInCountGet (int32_t segmentNumber)=0
 Get the number of digital inputs on a segment.
 
virtual int32_t SegmentDigitalOutCountGet (int32_t segmentNumber)=0
 Get the number of digital outputs on a segment.
 
virtual int32_t SegmentAnalogInCountGet (int32_t segmentNumber)=0
 Get the number of analog inputs on a segment.
 
virtual int32_t SegmentAnalogOutCountGet (int32_t segmentNumber)=0
 Get the number of analog outputs on a segment.
 
virtual int32_t SegmentIDGet (int32_t segmentNumber)=0
 Get the ID number of a segment.
 
virtual uint64_t DigitalInAddressGet (int32_t bitNumber)=0
 Get the controller memory address for a Node's digital input. More...
 
virtual int32_t DigitalInMaskGet (int32_t bitNumber)=0
 Get the bitwise mask for a Node's digital input. More...
 
virtual uint64_t DigitalOutAddressGet (int32_t bitNumber)=0
 Get the controller memory address for a Node's digital output. More...
 
virtual int32_t DigitalOutMaskGet (int32_t bitNumber)=0
 Get the bitwise mask for a Node's digital output. More...
 
virtual uint64_t AnalogInAddressGet (int32_t channel)=0
 Get the controller memory address for a Node's analog input. More...
 
virtual int32_t AnalogInMaskGet (int32_t channel)=0
 Get the bitwise mask for a Node's analog input. More...
 
virtual uint64_t AnalogOutAddressGet (int32_t channel)=0
 Get the controller memory address for a Node's analog output. More...
 
virtual int32_t AnalogOutMaskGet (int32_t channel)=0
 Get the bitwise mask for a Node's analog output. More...
 
virtual int32_t ServiceChannelRead (int32_t index, int32_t subIndex, int32_t byteCount)=0
 Read a number from the SDO. More...
 
virtual int32_t ServiceChannelRead (int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds)=0
 
virtual char * ServiceChannelReadString (int32_t index, int32_t subIndex, int32_t byteCount)=0
 Read a string from the SDO. More...
 
virtual char * ServiceChannelReadString (int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds)=0
 
virtual void ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue)=0
 Write a number in the SDO. More...
 
virtual void ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds)=0
 
virtual void ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, char *stringValue)=0
 Write a string in the SDO. More...
 
virtual void ServiceChannelWrite (int32_t index, int32_t subIndex, int32_t byteCount, char *stringValue, uint32_t timeoutMilliseconds)=0
 
virtual char * AKDASCIICommand (char *command)=0
 Send a Kollmorgen AKD ASCII command (NodeType must equal KOLLMORGEN_AKD) More...
 
virtual void ClearFaults (int32_t axisNumber)=0
 Clear the faults for a specific axis number on this node.
 
virtual uint32_t VendorIdGet ()=0
 Get the EtherCAT vendor ID.
 
virtual char * NameGet ()=0
 Get the Node's Short Name that appears on EtherCATNodeInfo.xml. More...
 
virtual char * ProductNameGet ()=0
 Get the Node's Product/Long Name that appears on EtherCATNodeInfo.xml. More...
 
virtual char * VendorNameGet ()=0
 Get the Node's Vendor Name that appears on EtherCATNodeInfo.xml. More...
 
virtual uint32_t ProductCodeGet ()=0
 Get the EtherCAT product code.
 
virtual uint32_t RevisionGet ()=0
 Get the EtherCAT hardware revision.
 
virtual uint32_t StationAliasGet ()=0
 Get the EtherCAT station alias.
 
virtual char * SerialNumberGet ()=0
 Get the serial number as text.
 
virtual uint32_t AxisCountGet ()=0
 
virtual uint16_t StatusWordGet (int32_t axisIndex)=0
 Get the DS402 status word.
 
virtual char * VersionGet ()=0
 Get the RSI RapidCode version. More...
 
virtual int32_t MpiVersionMajor ()=0
 Get the major version number of the MPI library.
 
virtual int32_t MpiVersionMinor ()=0
 Get the minor version number of the MPI library.
 
virtual int32_t MpiVersionRelease ()=0
 Get the release version number of the MPI library.
 
virtual int32_t RSIVersionMajor ()=0
 Get the major version number of the RSI library.
 
virtual int32_t RSIVersionMinor ()=0
 Get the minor version number of the RSI library.
 
virtual int32_t RSIVersionMicro ()=0
 Get the micro version number of the RSI library.
 
virtual int32_t RSIVersionPatch ()=0
 Get the patch version number of the RSI library.
 
virtual int32_t NumberGet ()=0
 Get the zero-based index of this object. More...
 
virtual int32_t ErrorLogCountGet ()=0
 Get the number of software errors in the error log. More...
 
virtual RsiErrorErrorLogGet ()=0
 Get the next RsiError in the log. More...
 
virtual void ErrorLogClear ()=0
 Clear the error log. More...
 
virtual void ThrowExceptions (bool state)=0
 Configure a class to throw exceptions. More...
 
virtual void CacheEnableSet (RSICacheObject cache, bool enable, uint32_t expirationMilliseconds)=0
 Configure a class to cache data for specified time. More...
 
virtual char * RsiErrorMessageGet (RSIErrorMessage msg)=0
 Get the RSI-specific error message text for a specific RSIErrorMessage.
 
virtual char * ErrorMessageGet (RSIErrorMessage msg)=0
 Get the detailed text message for an RSIErrorMessage.
 
virtual bool WarningMsgCheck (RSIErrorMessage msg)=0
 Check to see if an RSIErrorMessage is a warning (true) or not (false).
 
virtual void Trace (bool state)=0
 Enables/Disables trace output. More...
 
virtual void TraceMaskOnSet (RSITrace maskOn)=0
 Turn on a particular trace output mask. More...
 
virtual bool TraceMaskOnGet (RSITrace maskOn)=0
 Check to see if a particular trace output mask is turned on. More...
 
virtual void TraceMaskOffSet (RSITrace maskOff)=0
 Turn off a particular trace output mask. More...
 
virtual void TraceMaskClear ()=0
 Clear the trace output mask. More...
 
virtual void TraceFileSet (const char *fileName)=0
 Channels Tracing messages to specified file. More...
 
virtual void TraceFileClose ()=0
 Stops Logging to the file. More...
 
virtual void TraceInjectMessage (RSITrace traceLevel, const char *message)=0
 Add a message to the Trace Log. More...
 

Description

The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects.