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.

Examples
Recorder.cs, and UserLimit.cs.

Definition at line 426 of file rsienums.h.