The RMP Motion Controller APIs


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


 Sample Apps