RapidCode

Description

RapidCode is an API that allows developers to quickly create EtherCAT machine control applications in C++, C#, VB.Net, and more. RapidCode provides a powerful, yet easy to use interface for EtherCAT motion controllers, servo/stepper drives and I/O nodes.

❇️ Class Diagram

Class	Description
MotionController	Represents the PCI motion controller board or the RMP INtime soft motion controller. This class provides an interface to general controller configuration, firmware upload/download, network, and data recording.
Axis	Represents a single axis of motion control. This class provides an interface for commanding motion, reading trajectory paramters, configuring filter (control law) parameters, homing, limit switch configuration, motor configuration, position capture, electronic gearing and Node information.
MultiAxis	Provides an interface to a group or collection of axes. Use the MultiAxis class when coordinated, synchronized or path motion is required.
NetworkNode	The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects.
IO	Provides an interface to an IO Node. An IO node can have various combinations of digital or analog inputs and outputs. IO Objects have access to NetworkNode Functions.
IOPoint	Provides a common interface to any IO Point, regardless of where it resides: MotionController, Axis, or IO Node. It represents a point class. An IOPoint object can be any specific Digital Output, Digital Input, Analog Output, or Analog Input.
RsiError	Is thrown as an execption by all RapidCode classes. It contains and error number, 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.
RTOS	The RTOS object represents the real-time operating system (INtime).

🚀 Getting Started

See Getting Started for instructions to set up your development environment.

📖 Docs

Explore our Docs to learn more about the RapidCode API capabilities.

🌐 Subsections

Modules
	Classes
	Enums
	Sample Apps