The RMP Motion Controller APIs

◆ RSIAxisAddressType

enum RSIAxisAddressType
strong
Enumerator
RSIAxisAddressTypeACTUAL_POSITION 

Actual Position.

RSIAxisAddressTypeCOMMAND_POSITION 

Command Position.

RSIAxisAddressTypePOSITION_ERROR 

Position Error.

RSIAxisAddressTypeACTUAL_VELOCITY 

Actual Velocity.

RSIAxisAddressTypeCOMMAND_VELOCITY 

Command Velocity.

RSIAxisAddressTypeCOMMAND_ACCELERATION 

Command Acceleration.

RSIAxisAddressTypeSTATUS 

Axis Status.

RSIAxisAddressTypeMOTION_STATUS 

Motion Status.

RSIAxisAddressTypeDEMAND 

Filter Output (the commanded torque sent to the drive)

RSIAxisAddressTypeDIGITAL_OUTPUTS 

Digital Output (general purpose)

RSIAxisAddressTypeDIGITAL_INPUTS 

Digital Input (general purpose)

RSIAxisAddressTypeDEDICATED_OUTPUTS 

Dedicated Outputs (Amp Enable, Brake, etc)

RSIAxisAddressTypeDEDICATED_INPUTS 

Dedicated Inputs (Home, Limits, Amp Fault, etc)

RSIAxisAddressTypeMOTION_ID 

Motion Identifier.

RSIAxisAddressTypeMOTION_ELEMENT_ID 

Motion Element Identifier (element within the motion)

RSIAxisAddressTypeENCODER_PRIMARY 

Primary Encoder position.

RSIAxisAddressTypeENCODER_SECONDARY 

Secondary Encoder position.

RSIAxisAddressTypeFILTER_GAIN_KP 

Proportional Gain.

RSIAxisAddressTypeENCODER_PRIMARY_DELTA 

Primary Encoder position delta.

RSIAxisAddressTypeENCODER_SECONDARY_DELTA 

Secondary Encoder position delta.

RSIAxisAddressTypeFILTER_SMOOTHED_VELOCITY 

Smoothed velocity estimate from the filter object.

RSIAxisAddressTypeFILTER_PRIMARY_POINTER 

Filter Primary Pointer for Gantry use.

RSIAxisAddressTypeFILTER_SECONDARY_POINTER 

Filter Secondary Pointer for Gantry use.

RSIAxisAddressTypeFILTER_PRIMARY_COEFF 

Filter Primary Coefficient for Gantry use.

RSIAxisAddressTypeFILTER_SECONDARY_COEFF 

Filter Secondary Coefficient for Gantry use.

RSIAxisAddressTypeFILTER_VELOCITY_POINTER 

Filter Velocity Pointer (points to feedback delta)

RSIAxisAddressTypeAXIS_LINK 

Axis Link for Gantry use.

RSIAxisAddressTypeDEMAND_PRIMARY_OUTPUT 

Motor Config Demand Output Channel 0. Useful for Created Axes.

RSIAxisAddressTypeENCODER_PRIMARY_POINTER 

Encoder[0].Ptr. Useful for Created Axes.

RSIAxisAddressTypeDEMAND_CHANNEL_ONE_OUTPUT 

Motor Config Demand Output Channel 1.

RSIAxisAddressTypeDEMAND_CHANNEL_TWO_OUTPUT 

Motor Config Demand Output Channel 2.

RSIAxisAddressTypeDEMAND_CHANNEL_THREE_OUTPUT 

Motor Config Demand Output Channel 3.

RSIAxisAddressTypeDEMAND_PRIMARY_INPUT 

Motor Config Demand Input Channel 0.

RSIAxisAddressTypeDEMAND_CHANNEL_ONE_INPUT 

Motor Config Demand Input Channel 1.

RSIAxisAddressTypeDEMAND_CHANNEL_TWO_INPUT 

Motor Config Demand Input Channel 2.

RSIAxisAddressTypeDEMAND_CHANNEL_THREE_INPUT 

Motor Config Demand Input Channel 3.

RSIAxisAddressTypeCONTROL_MODE_PRIMARY_MAP 

0xFFFFxxxx. xxxx=FFF0 for 1, FF10 for 2, F210 for 3, and 3210 for 4 Demand Channel(s) Processed.

RSIAxisAddressTypeAXIS_CONFIG_FEEDBACKPTR_ZERO 

AxisConfig FeedbackPtr[0].

RSIAxisAddressTypeAXIS_CONFIG_FEEDBACKPTR_ONE 

AxisConfig FeedbackPtr[1].

RSIAxisAddressTypeTARGET_FEEDRATE 

Target FeedRate.

RSIAxisAddressTypeTC_ACTUAL_POSITION 

(internal) Trajectory Calculator Actual Position

RSIAxisAddressTypeTC_COMMAND_POSITION 

(internal) Trajectory Calculator Command Position

RSIAxisAddressTypeMOTOR_DATA_STATUS 

Motor Status.

RSIAxisAddressTypeCOMPENSATION_CURRENT_VALUE 

Compensation value, where multiple compensators can write.

RSIAxisAddressTypeCOMPENSATION_FINAL_VALUE 

Final Compensation value, the value subtraced from ActualPosition and added to position demand.

RSIAxisAddressTypeBACKLASH_VALUE 

The resuling backlash compensation value.

RSIAxisAddressTypeTARGET_POSITION 

Target Position.

RSIAxisAddressTypeDEDICATED_INPUTS_POINTER 

Pointer to Dedicated Inputs (Home, Limits, Amp Fault, etc)

RSIAxisAddressTypeAMP_ACTIVE_SUPPORTED 

Will be automatically set true for drives which support AMP_ACTIVE (read-only)

RSIAxisAddressTypeDS402_SUPPORTED 

Will be automatically set true for drives which support the DS402 standard.

RSIAxisAddressTypeDEMAND_PRIMARY_SCALE 

Motor Config Demand Scale Channel 0.

RSIAxisAddressTypeDEMAND_CHANNEL_ONE_SCALE 

Motor Config Demand Scale Channel 1.

RSIAxisAddressTypeDEMAND_CHANNEL_TWO_SCALE 

Motor Config Demand Scale Channel 2.

RSIAxisAddressTypeDEMAND_CHANNEL_THREE_SCALE 

Motor Config Demand Scale Channel 3.

RSIAxisAddressTypeFRAME_INDEX 

The index of the frame currently executing.

RSIAxisAddressTypeFRAME_LOAD_INDEX 

The index of the last loaded frame.

RSIAxisAddressTypeAMP_ENABLE_AMP_FAULT_TIMEOUT 

The timeout in seconds after which an Amp Fault will occur if the Axis does not enable after calling AmpEnableSet(true).

Examples
Recorder.cs, and UserLimit.cs.

Definition at line 426 of file rsienums.h.