Classes

Description

Topics
	Cartesian

Classes
class	Axis
	Represents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory parameters, homing, limit switch configuration, motor configuration, position capture, configuring filter (control law) parameters, electronic gearing and access to its NetworkNode. Get or create an Axis object using MotionController::AxisGet. More...
union	FirmwareValue
	Union representing a generic RMP firmware value with multiple data types, stored in 64-bits. More...
class	IOPoint
	Represents one specific point: Digital Output, Digital Input, Analog Output, or Analog Input. This class provides a helper interface to any I/O, regardless of where it resides: MotionController, Axis, or NetworkNode. To create an IOPoint, use IOPoint Creation Methods. More...
class	MotionController
	Represents the RMP soft motion controller. This class provides an interface to general controller configuration, firmware upload/download, network, user limits and data recording. To make a MotionController object, use MotionController creation methods.. More...
class	MultiAxis
	Represents multiple axes of motion control, allows you to map two or more Axis objects together for error propagation and commanding coordinated, synchronized motion. Create or get a MultiAxis object using MotionController::MultiAxisGet or MotionController::LoadExistingMultiAxis. More...
class	NetworkNode
	Represents an EtherCAT node / SubDevice (Drive, I/O Block, etc) on the network. This class provides an interface to all digital and analog I/O on the node, as well as the ability to read and write SDOs. Get or create a NetworkNode using MotionController::NetworkNodeGet or the Axis property, NetworkNode. More...
class	RapidCodeInterrupt
	Interface for objects which can use interrupts. More...
class	RapidCodeMotion
	The RapidCodeMotion interface is implemented by Axis and MultiAxis . More...
class	RapidCodeObject
	The RapidCode base class. All non-error objects are derived from this class. More...
class	RapidCodeOS
	The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController . More...
class	RsiError
	Represents the error details thrown as an exception by all RapidCode classes. This class contains an error number/type, RSIErrorMessage, and a text message which describes the error. Throwing exceptions can be disabled on all RSI classes. If throwing exceptions is disabled, a log of RsiErrors can be accessed. Inherits from std::exception in C++ and System.Exception in C#. More...
class	RTOS
	Represents the real-time operating system (INtime) when using RMP for Windows. This class provides static methods to start, stop, and restart INtime. More...
class	Trace
	Tracing allows for low level logs to be generated. More...