RapidScript

RapidScript is the programming language of the RapidSequencer runtime. Additional details can be found here.

Table of Contents

• Keywords
  • Conditional Statements
    • If
  • Loops
    • For
    • While
    • Do While
    • Special Statements
  • Types
• Functions
  • Built in Operators
    • Arithmetic
    • Binary Comparison
    • Binary Evaluation
    • Unary Evaluation
    • Unary Numerical Operators
    • Prefix Operators
    • Postfix Operators
    • Bitwise Operators
    • Assignment Operators
    • Math Functions
    • Output Functions
    • Array Manipulation
  • Supported RapidCode Functions

Keywords

Conditional Statements

If

if (...)
{
  ...
}
else if (...)
{
  ...
}
else
{
  ...
}

Loops

For

for (...init...; ...loop cond...; ...loop update...)
{
  ...
}

While

while (...)
{
  ...
}

Do While

do
{
  ...
}
while (...);

Special Statements

break; continue; return;

Types

Function	Description
bool
string
int16
uint16
int32
uint32
int64
uint64
double
char
void
enum	This is a special type that wraps a uint32. It is used to differentiate parameters to functions that take enums.
global	This variable modifier creates the variable in RMP memory. It is accessible across Seqeuncer threads and outside of the Sequencer

Functions

Built In Operators

Arithmetic

Operator	Symbol	Usage
addition	+	x+y
subtraction	-	x-y
multiplication	*	x*y
division	/	x/y
modulo	%	xy

Binary Comparison

Operator	Symbol	Usage
equals	==	x==y
not equals	!=	x!=y
less than	<	x<y
less than equal to	<=	x<=y
greater than	>	x>y
greater than equal to	>=	x>=y

Binary Evaluation

Operator	Symbol	Usage
and	&&	x&&y
or	||	x||y
exclusive or	^	x^y

Unary Evaluation

Operator	Symbol	Usage
not	!	!x

Unary Numerical Operators

Operator	Symbol	Usage
negate	-	-x

Prefix Operators

Operator	Symbol	Usage
pre-increment	++	++x
pre-decrement	–	–x

Postfix Operators

Operator	Symbol	Usage
post-increment	++	x++
post-decrement	–	x–

Bitwise Operators

Operator	Symbol	Usage
and	&	x&y
or	|	x|y
left shift	<<	x<<y
right shift	>>	x>>y

Assignment Operators

Operator	Symbol	Usage
equal	=	x=y
add	+=	x+=y
subtract	-=	x-=y
multiply	*=	x*=y
divide	/=	x/=y
modulo	%=	x%=y
boolean or	|=	x|=y
boolean and	&=	x&=y
boolean xor	^=	x^=y
left shift	<<=	x<<=y
right shift	>>=	x>>=y

Math Functions

Operation	Function	Usage	Description
Absolute value	abs	abs(x)
Arccosine	acos	acos(x)
Arcsine	asin	asin(x)
Arctangent	atan	atan(x)
Ceiling	ceil	ceil(x)
Cosine	cos	cos(x)
Exponential	exp	exp(x)	e^x
Exponential Base 2	exp2	exp2(x)	2^x
Floor	floor	floor(x)
Natural Logarithm	ln	ln(x)	log(x) aka log(x)/log(e)
Logarithm Base 10	log10	log10(x)	log(x)/log(10)
Logarithm Base 2	log2	log2(x)	log(x)/log(2)
Power	pow	pow(x, y)	x^y
Root	root	root(x, y)	y root of x
Sine	sin	sin(x)
Square Root	sqrt	sqrt(x)
Tangent	tan	tan(x)

Output Functions

Operation	Function	Usage	Description
Now	now	now()	Returns the time since RapidSequencer start
Print	print	print(x)	Prints the input
Wait	Wait	Wait(double ms)	waits for the specified ms. Program will resume the cycle after the duration expires

Array Manipulation

Operation	Function	Usage	Description
Create Array	array_create	array_create(...)
Destroy Array	array_destroy	array_destroy(...)
Get Element of Array	array_get	array_get(...)
Set Element of Array	array_set	array_set(...)
Try Destory Array	array_try_destroy	array_try_destroy(...)	Try to destroy an array. Will not raise exception if array does not exist
Get Exception Count	ExceptionCount	ExceptionCount()	Get the number of exceptions that have been raised on this Sequencer task.
Get Exception	ExceptionGet	ExceptionGet()	Get and removes the first exception from the list of exceptions. Returns empty string if none exist.

Supported RapidCode Functions

Function	Description
AxisAbort	Abort an axis.
AxisActualPositionGet	Get the current actual position.
AxisActualPositionSet	Set the actual position.
AxisActualVelocityGet	Get the current actual velocity.
AxisAddressDataTypeGet	Get the data type for an address the Axis.
AxisAddressGet	Get the an address for some location on the Axis.
AxisAmpDisableActionGet	Get the Amp Disable action.
AxisAmpDisableActionSet	Set the Amp Disable action.
AxisAmpEnableGet	Get the state of the Amp Enable Output.
AxisAmpEnableSet	Enable all amplifiers.
AxisAmpEnableSet	Enable all amplifiers.
AxisAmpFaultActionGet	Get the Amp Fault action.
AxisAmpFaultActionSet	Set the Amp Fault action.
AxisAmpFaultDurationGet	Get the duration required before the Amp Fault event triggers.
AxisAmpFaultDurationSet	Set the duration required before the Amp Fault event triggers.
AxisAmpFaultGet	Get the current state of the Amp Fault input.
AxisAmpFaultTriggerStateGet	Get the Amp Fault trigger state.
AxisAmpFaultTriggerStateSet	Set the trigger state of the Amp Fault input.
AxisAnalogInGet	Get the value of an analog input.
AxisAxisCountGet	Get the axis count.
AxisBacklashHysteresisLimitGet
AxisBacklashHysteresisLimitSet
AxisBacklashRateGet	Gets the Backlash Rate which was set by the user.
AxisBacklashRateSet	Sets the rate at which Backlash is applied.
AxisBacklashValueGet	Gets the current backlash compensation value.
AxisBacklashWidthGet	Gets the Backlash Width which was set by the user.
AxisBacklashWidthSet	Sets the total range of the give in a system with Backlash.
AxisBrakeApplyDelayGet	Get the delay time for the brake to be applied.
AxisBrakeApplyDelaySet	Set the brake apply delay.
AxisBrakeModeGet	Get the brake mode.
AxisBrakeModeSet	Set the brake mode.
AxisBrakeReleaseDelayGet	Get the brake release delay time.
AxisBrakeReleaseDelaySet	Set the Brake Release Delay.
AxisClearFaults	Clear all faults for an Axis or MultiAxis.
AxisClosedLoopStepperSet	Unsupported.
AxisClosedLoopStepperVersionGet	Unsupported.
AxisCommandAccelGet	Get the current commanded acceleration.
AxisCommandJerkGet	Get the current commanded jerk value (custom firmware required).
AxisCommandPositionDirectSet	directly sets the value of the command position of an axis
AxisCommandPositionGet	Get the current command position.
AxisCommandPositionSet	Sets the value of the command and actual positions of an axis.
AxisCommandVelocityGet	Get the current commanded velocity.
AxisCompensationPositionGet	Get the compensator position.
AxisCompensationPositionSet	Set the compensator position.
AxisCountsToUserUnits	Convert from raw feedback counts to UserUnits.
AxisDedicatedInExists	Determine if a particular Dedicated input bit exists for a motor.
AxisDedicatedInGet	Read a digital input.
AxisDedicatedOutExists	Determine if a particular Dedicated output bit exists for a motor.
AxisDedicatedOutGet	Get the state of dedicated output bit.
AxisDefaultAccelerationGet	Get the default acceleration in UserUnits.
AxisDefaultAccelerationSet	Set the default acceleration in UserUnits.
AxisDefaultDecelerationGet	Get the default deceleration in UserUnits.
AxisDefaultDecelerationSet	Set the default deceleration in UserUnits.
AxisDefaultJerkPercentGet	Get the default jerk percent.
AxisDefaultJerkPercentSet	Set the default jerk percent.
AxisDefaultPosition1Get	Get the default Position 1 value in UserUnits (used by RapidSetup).
AxisDefaultPosition1Set	Set the default Position 1 value in UserUnits (used by RapidSetup).
AxisDefaultPosition2Get	Get the default Position 2 value in UserUnits (used by RapidSetup).
AxisDefaultPosition2Set	Set the default Position 2 value in UserUnits (used by RapidSetup).
AxisDefaultRelativeIncrementGet	Get the default relative increment value in UserUnits (used by RapidSetup).
AxisDefaultRelativeIncrementSet	Set the default relative value in UserUnits (used by RapidSetup).
AxisDefaultVelocityGet	Get the default velocity in UserUnits.
AxisDefaultVelocitySet	Set the default velocity in UserUnits.
AxisDigitalInGet	Read a digital input.
AxisDigitalIoExists	Determine if a particular General I/O bit exists for a motor.
AxisDigitalIoNameGet	Get the name of a Motor I/O bit.
AxisDigitalIoTypeSet	Set the type for a Motor I/O bit.
AxisDigitalIoValidTypesMaskGet	Get the type mask for a Motor I/O bit.
AxisDigitalOutGet	Get the state of digital output bit.
AxisDigitalOutSet	Set a digital output bit.
AxisDriveIndexGet	Get the drive index, relative to the Network Node (multi-axis drives)
AxisEncoderCountGet	Get the number of encoders processed in firmware by the motor object. Valid values: 0,1,2.
AxisEncoderCountSet
AxisEncoderFaultActionGet	Get the action that will occur when the Encoder Fault Limit Event triggers.
AxisEncoderFaultActionSet	Set the action that will occur when the Encoder Fault Limit Event triggers.
AxisEncoderFaultDurationGet	Get the duration required before the Encoder Fault Limit event triggers.
AxisEncoderFaultDurationSet	Set the duration required before the Encoder Fault Limit event triggers.
AxisEncoderFaultTriggerGet	Get the encoders which are used to generate encoder faults.
AxisEncoderFaultTriggerSet	Set the encoders which are used to generate encoder faults.
AxisEncoderPointerGet	Get the pointer (host address) for the motor feedback.
AxisEncoderPointerSet	Set the pointer (host address) for the motor feedback.
AxisEncoderPositionGet	Get the raw encoder position.
AxisEncoderRatioDenominatorGet	Get the encoder ration denominator.
AxisEncoderRatioNumeratorGet	Get the encoder ratio numerator.
AxisEncoderRatioPrimaryGet	Get the primary feedback encoder ratio as text.
AxisEncoderRatioPrimarySet	Set the primary feedback encoder ratio as text. "1.0 ,2.0".
AxisEncoderRatioSecondaryGet	Get the secondary feedback encoder ratio as text.
AxisEncoderRatioSecondarySet	Set the secondary feedback encoder ratio as text. "1.0 ,2.0".
AxisEncoderRatioSet	Sets the ratio to scale Encoder counts.
AxisErrorLimitActionGet	Get the action that will occur when the Position Error Limit Event triggers.
AxisErrorLimitActionSet	Set the action that will occur when the Error Limit Event triggers.
AxisErrorLimitDurationGet	Get the duration required before the Position Error Limit event triggers.
AxisErrorLimitDurationSet	Sets the duration required before the Position Error Limit event triggers.
AxisErrorLimitTriggerValueGet	Get the Position Error Limit trigger value.
AxisErrorLimitTriggerValueSet	Set the Position Error Limit trigger value.
AxisErrorLogClear	Clear the error log.
AxisErrorLogCountGet	Get the number of software errors in the error log.
AxisErrorMessageGet	Get the detailed text message for an RSIErrorMessage.
AxisEStop	E-Stop an axis.
AxisEStopAbort	E-Stop, then abort an axis.
AxisEStopDecelerationGet	Get the deceleration rate for an E-Stop, Modify Event.
AxisEStopDecelerationSet	Set the deceleration rate for an E-Stop, Modify Event.
AxisEStopJerkPercentGet	Get the jerk percent for an E-Stop, Modify Event.
AxisEStopJerkPercentSet	Set the jerk percent for an E-Stop, Modify Event.
AxisEStopModify	E-Stop with a deceleration rate.
AxisEStopModifyAbort
AxisEStopTimeGet	Get E-Stop Event deceleration time.
AxisEStopTimeSet	Set the deceleration time for an E-Stop Event.
AxisFaultMaskBitGet	Unsupported Function. Likely to be removed in the future.
AxisFeedbackDeltaPointerGet	Get the pointer (host address) for the axis feedback.
AxisFeedbackDeltaPointerSet	Set the pointer (host address) for the axis feedback.
AxisFeedbackPointerGet	Get the pointer (host address) for the axis feedback.
AxisFeedbackPointerSet	Configure an axis for dual loop feedback.
AxisFeedRateGet	Get the axis feed rate.
AxisFeedRateSet	Set the feed rate for an Axis.
AxisFilterAlgorithmGet	Get the control algorithm type.
AxisFilterAlgorithmSet	Set the algorithm type for an axis.
AxisFilterCoeffGet	Get value for a filter coefficient (ex: Kp, Ki, Kd, etc).
AxisFilterCoeffSet	Set a filter coefficient (ex: Kp, Ki, Kd).
AxisFilterGainSchedulingGet	Get the status of automatic gain scheduling.
AxisFilterGainSchedulingSet	Enable or disable automatic gain scheduling.
AxisFilterGainTableGet	Gets which gain table is currently in use by the axis.
AxisFilterGainTableSet	Set the gain table to be used by an axis.
AxisFilterGainTableSizeGet	Gets the size of gain tables.
AxisFilterLowPassGet	Get the value of the Low-Pass filter.
AxisFilterLowPassSet	Use a Low-Pass filter.
AxisFilterOutputGet	Get the output of a demand filter, range is +/- 100.0.
AxisFrameBufferSizeGet	Get Frame buffer size for the axis.
AxisFrameBufferSizeSet	Set Frame buffer size for the axis.
AxisFramesToExecuteGet
AxisGantryTypeGet	Get the gantry type.
AxisGantryTypeSet	Set the gantry type.
AxisGearingDenominatorGet	Get the denominator of the gearing ratio.
AxisGearingDisable	Disable the electronic gearing.
AxisGearingEnable	Enable this Axis to be follower (slave) using electronic gearing.
AxisGearingEnableGet	Get the state of gearing feature. If true, this Axis is a geared slave.
AxisGearingMasterAddressGet
AxisGearingMasterAxisNumberGet	Get a Slave's Master Axis Number.
AxisGearingNumeratorGet	Get the numerator of the gearing ratio.
AxisGearingRatioChange	Change the electronic gearing ratio.
AxisGearingSourceGet	Get the Source used to slave to the Master Axis.
AxisHardwareNegLimitActionGet	Get the action that will occur when the Hardware Negative Limit Event triggers.
AxisHardwareNegLimitActionSet	Set the action that will occur when the Hardware Negative Limit Event triggers.
AxisHardwareNegLimitDurationGet	Get the duration required before the Hardware Negative Limit event triggers.
AxisHardwareNegLimitDurationSet	Set the duration required before the Hardware Negative Limit event triggers.
AxisHardwareNegLimitTriggerStateGet	Trigger state return.
AxisHardwareNegLimitTriggerStateSet	Sets the trigger state.
AxisHardwarePosLimitActionGet	Get the action that will occur when the Hardware Positive Limit Event triggers.
AxisHardwarePosLimitActionSet	Set the action that will occur when the Hardware Positive Limit Event triggers.
AxisHardwarePosLimitDurationGet	Get the duration required before the Hardware Positive Limit event triggers.
AxisHardwarePosLimitDurationSet	Set the duration required before the Hardware Positive Limit event triggers.
AxisHardwarePosLimitTriggerStateGet	trigger state return.
AxisHardwarePosLimitTriggerStateSet	sets the trigger state.
AxisHome	Execute the homing routine.
AxisHome	Execute the homing routine.
AxisHomeAccelerationGet	Get the deceleration used for homing.
AxisHomeAccelerationGet	Get the deceleration used for homing.
AxisHomeAccelerationSet	Set the deceleration used for homing.
AxisHomeAccelerationSet	Set the deceleration used for homing.
AxisHomeActionGet	Get the action that will occur when the Home LIMIT triggers.
AxisHomeActionSet	Set the action that will occur when the Home Event triggers.
AxisHomeBehaviorGet	Get the Action used during Master based Homing.
AxisHomeBehaviorSet	Set the Action used for Master based homing.
AxisHomeCancelSet	Cancel Homing.
AxisHomeDecelerationGet	Get the decleration to be used for homing when using the switch is not detected before the HomeTravelDistanceSet() has been reached.
AxisHomeDecelerationGet	Get the decleration to be used for homing when using the switch is not detected before the HomeTravelDistanceSet() has been reached.
AxisHomeDecelerationSet	Set the decleration to be used for homing when using the switch is not detected before the HomeTravelDistanceSet() has been reached.
AxisHomeDecelerationSet	Set the decleration to be used for homing when using the switch is not detected before the HomeTravelDistanceSet() has been reached.
AxisHomeDurationGet	Get the duration required before the Home event triggers.
AxisHomeDurationSet	Set the duration required before the Home event triggers.
AxisHomeJerkPercentGet	Get the Jerk Percent used for homing.
AxisHomeJerkPercentGet	Get the Jerk Percent used for homing.
AxisHomeJerkPercentSet	Set the Jerk Percent used for homing.
AxisHomeJerkPercentSet	Set the Jerk Percent used for homing.
AxisHomeLimitCustomConfigAddressGet	Get the host address of the custom home input configuration.
AxisHomeLimitCustomConfigBitIndexGet
AxisHomeLimitCustomConfigReset	Remove any custom home input configuration and reset to use the Axis' dedicated home input bit.
AxisHomeLimitCustomConfigSet
AxisHomeLimitGet	Get the current state of the Home limit.
AxisHomeMethodGet	Get the method to be used for homing.
AxisHomeMethodSet	Set the method to be used for homing.
AxisHomeOffsetGet	Get the home offset.
AxisHomeOffsetSet	Set the home offset.
AxisHomeSlowVelocityGet	Get the slow home velocity.
AxisHomeSlowVelocitySet	Set the slow home velocity.
AxisHomeStageGet	Get the current Homing Stage.
AxisHomeStateGet	Get the home state.
AxisHomeStateSet	Set the home state.
AxisHomeSwitchGet	Get the current state of the Home switch input.
AxisHomeTravelDistanceSet	Set the max travel used in a specific Homing Stage.
AxisHomeTriggerStateGet	Get the trigger state for the Home input.
AxisHomeTriggerStateSet	Set the trigger state for the Home input.
AxisHomeVelocityGet	Get the home velocity.
AxisHomeVelocityGet	Get the home velocity.
AxisHomeVelocitySet	Set the home velocity.
AxisHomeVelocitySet	Set the home velocity.
AxisInterruptEnableSet	Control interrupts for this class.
AxisInterruptMaskAllSet	Set all the bits of the interrupt mask to get interrupts for ALL sources.
AxisInterruptMaskClear	Clear the interrupt mask so no interrupts will be generated.
AxisInterruptMaskOffSet	Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
AxisInterruptMaskOnGet	Get the status of the interrupt mask for the given RSIEventType.
AxisInterruptMaskOnSet	Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
AxisInterruptMotionIdGet	Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
AxisInterruptNameGet	Get the text name of an interrupt type.
AxisInterruptSampleTimeGet	Get the sample timer value when the last interrupt was generated.
AxisInterruptSourceNumberGet	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
AxisInterruptUserDataDoubleGet	Get the user data associated with the interrupt, as a 64-bit double.
AxisInterruptUserDataGet	Get the user data associated with the interrupt, as a 64-bit unsigned integer.
AxisInterruptWait	Suspend the current thread until an interrupt arrives from the controller.
AxisInterruptWake
AxisIsMapped	Check to see if the axis mapping is active on the firmware.
AxisIsTuneable	Is an Axis tunable? Returns false if Axis is in position mode, otherwise true.
AxisLimitActionGet	Get the action for any type of limit.
AxisLimitActionSet	Set the action for any type of limit.
AxisLimitDurationGet	Get the duration for any type of limit.
AxisLimitDurationSet	Set the duration for any type of limit.
AxisLimitTriggerStateGet	Get the trigger state for any type of limit.
AxisLimitTriggerStateSet	Set the trigger state for any type of limit.
AxisLimitTriggerValueGet	Get the trigger value for any type of limit.
AxisLimitTriggerValueSet	Set the trigger value for any type of limit.
AxisMap	Writes the axis mapping relationship to the Controller.
AxisMotionAttributeMaskDefaultSet	Restore the motion attribute mask to the RapidCode default.
AxisMotionAttributeMaskOffSet	Turn off a particular motion attribute mask.
AxisMotionAttributeMaskOnGet	Check to see if a particular motion attribute mask is turned on.
AxisMotionAttributeMaskOnSet	Turn on a particular motion attribute mask.
AxisMotionCamRepeatFromGet	Get the segment at which camming repeats.
AxisMotionCamRepeatFromSet	Set the segment at which camming repeats.
AxisMotionCamRepeatStop	Stops a Repeating Cam.
AxisMotionDelayGet	Get the delay (seconds) that will occur before motion starts.
AxisMotionDelaySet	Set the time (seconds) that a motion will wait before starting.
AxisMotionDoneGet	Check to see if motion is done and settled.
AxisMotionDoneWait	Waits for a move to complete.
AxisMotionDoneWait	Waits for a move to complete.
AxisMotionElementIdExecutingGet
AxisMotionFinalVelocityGet	Get final velocity of a motion, when FINAL_VEL motion attribute is used.
AxisMotionFinalVelocitySet	Set the final velocity of a motion, when FINAL_VEL motion attribute is used.
AxisMotionHoldAxisLogicGet	Get the logic when holding for Axis ActualPosition.
AxisMotionHoldAxisLogicSet	Set the logic when holding for Axis ActualPosition.
AxisMotionHoldAxisNumberGet	Gets the Axis number.
AxisMotionHoldAxisNumberSet	Sets the Axis number for Motion Hold.
AxisMotionHoldAxisPositionGet	Gets the Axis position.
AxisMotionHoldAxisPositionSet	Sets the Axis position.
AxisMotionHoldGateGet	Get the state of the hold gate.
AxisMotionHoldGateNumberGet	Returns the Motion Hold Gate number that the axis or multiaxis is set to.
AxisMotionHoldGateNumberSet	Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate.
AxisMotionHoldGateSet	Set the Motion Hold Gate.
AxisMotionHoldTimeoutGet	Get the motion hold timeout value.
AxisMotionHoldTimeoutSet	Set the motion hold timeout value.
AxisMotionHoldTypeGet	Get the motion hold attribute type.
AxisMotionHoldTypeSet	Set the motion hold type.
AxisMotionHoldUserAddressGet	Gets the Motion Hold User Address.
AxisMotionHoldUserAddressSet	Sets the Motion Hold User Address.
AxisMotionHoldUserMaskGet	Gets the Motion Hold User Mask.
AxisMotionHoldUserMaskSet	Sets the Motion Hold User bit mask.
AxisMotionHoldUserPatternGet	Gets the Motion Hold user bit pattern.
AxisMotionHoldUserPatternSet	Sets the Motion Hold User pattern bit mask.
AxisMotionIdExecutingGet
AxisMotionIdGet	Get the motion identifier.
AxisMotionIdSet	Set the Motion identifier.
AxisMotorFaultMaskGet	Get the Motor Fault Mask.
AxisMotorFaultMaskSet	Set the Motor Fault Mask.
AxisMotorTypeGet	Get the motor type.
AxisMotorTypeSet	Set the motor type.
AxisMoveCamCubic	Enable this Axis to be cubic follower (slave) using an electronic cam.
AxisMoveCamLinear	Enable this Axis to be linear follower (slave) using an electronic cam.
AxisMovePT	A move commanded by a list of position and time points.
AxisMovePVAJT
AxisMovePVT	Move commanded by list of positions, velocities, and times.
AxisMoveSCurve	Command a point-to-point S-Curve motion.
AxisMoveSCurve	Command a point-to-point S-Curve motion.
AxisMoveSCurve	Command a point-to-point S-Curve motion.
AxisMoveTrapezoidal	Point-to-point trapezoidal move.
AxisMoveTrapezoidal	Point-to-point trapezoidal move.
AxisMoveTrapezoidal	Point-to-point trapezoidal move.
AxisMoveVelocity
AxisMoveVelocity
AxisMoveVelocitySCurve	Command a constant velocity move (jog) with non-constant acceleration.
AxisMpiVersionMajor	Get the major MPI version.
AxisMpiVersionMinor	Get the minor MPI version.
AxisMpiVersionRelease	Get the release MPI version.
AxisNegativeLimitGet	Get the state of the Hardware Negative Limit input.
AxisNetworkIndexGet	Get the Network Index associated with a DS402 Axis Feature.
AxisNetworkIndexSet	Set the Network Index associated with a DS402 Axis Feature.
AxisNodeFailureActionGet	Get the action for a node failure.
AxisNodeFailureActionSet	Set the action for a node failure.
AxisNumberGet	Get the axis number.
AxisOperationModeGet	Get the operation mode.
AxisOperationModeSet	Set the axis operation mode.
AxisOriginPositionGet	Get the origin position.
AxisOriginPositionSet	Set the origin position.
AxisPositionErrorGet	Get the current position error.
AxisPositionSet	Set the Command and Actual positions.
AxisPositionToleranceCoarseGet	Get the Coarse Position Tolerance for axis settling.
AxisPositionToleranceCoarseSet	Set the Coarse Position Tolerance for Axis settling.
AxisPositionToleranceFineGet	Get the Fine Position Tolerance for axis settling.
AxisPositionToleranceFineSet	Set the Fine Position Tolerance for Axis settling.
AxisPositiveLimitGet	Get the state of the Hardware Positive Limit input.
AxisPostFilterBiquadSet	Use a Digital Biquad Post Filter.
AxisPostFilterClear	Remove any Post Filters in section Number.
AxisPostFilterHighPassSet	Use a High Pass Post Filter.
AxisPostFilterInfoGet	Get a text description of the current post filters.
AxisPostFilterLeadLagSet	Use a Lead Lag Post Filter.
AxisPostFilterLowPassSet	Use a Low-Pass filter.
AxisPostFilterNotchSet	Use a Notch Post Filter.
AxisPostFilterResonatorSet	Use a Resonator Post Filter.
AxisPostFilterSingleOrderSet	Use a Single Order Post Filter.
AxisPostFilterUnityGainSet	Use a Unity Gain Post Filter.
AxisPostTrajectoryGearingEnableGet	Get the state of post-trajectory gearing feature. If true, this Axis is a post-trajectory geared slave.
AxisPostTrajectoryGearingEnableSet	Enable or disable the post-trajectory gearing feature.
AxisPostTrajectoryGearingMasterAxisGet	Get the master axis number of the post-trajectory gearing.
AxisPostTrajectoryGearingMasterAxisSet	Set the master axis number of the post-trajectory gearing.
AxisPostTrajectoryGearingMultiplierGet	Get the multiplier for the post-trajectory gearing.
AxisPostTrajectoryGearingMultiplierSet	Set the multiplier for post-trajectory gearing. This feature only works for an Axis in position mode.
AxisResume	Resume an axis.
AxisRsiErrorMessageGet	Get the RSI-specific error message text for a specific RSIErrorMessage.
AxisRSIVersionMajor	Get the major RSI version.
AxisRSIVersionMicro	Get the micro RSI version.
AxisRSIVersionMinor	Get the minor RSI version.
AxisRSIVersionPatch	Get the patch RSI version.
AxisSettleOnEStopCmdEqActGet	Get the E-Stop Event settling configuration when E-Stop is configured for (Command = Actual).
AxisSettleOnEStopCmdEqActSet	Set the settling configuration for E-Stop events (when configured for Command = Actual).
AxisSettleOnEStopGet	Get the E-Stop Event settling configuration.
AxisSettleOnEStopSet	Set the E-Stop Event settling configuration.
AxisSettleOnStopGet	Get the Stop Event settling configuration.
AxisSettleOnStopSet	Set the Stop Event settling configuration.
AxisSettlingTimeGet	Get the Settling time.
AxisSettlingTimeSet	Set the settling time.
AxisSoftwareNegLimitActionGet	Get the action that will occur when the Software Negative Limit Event triggers.
AxisSoftwareNegLimitActionSet	Set the action that will occur when the Software Negative Limit Event triggers.
AxisSoftwareNegLimitTriggerValueGet	Get the Software Negative Position limit.
AxisSoftwareNegLimitTriggerValueSet	Set the Software Negative Position limit.
AxisSoftwarePosLimitActionGet	Get the action that will occur when the Software Positive Limit Event triggers.
AxisSoftwarePosLimitActionSet	Set the action that will occur when the Software Positive Limit Event triggers.
AxisSoftwarePosLimitTriggerValueGet	Get the Software Positive Position limit.
AxisSoftwarePosLimitTriggerValueSet	Set the Software Positive Position limit.
AxisSourceGet	Get the source of an error state for an Axis or MultiAxis.
AxisSourceNameGet	Get the name (string) of the source of an error for an Axis or MultiAxis.
AxisStateGet	Get the Axis or MultiAxis state.
AxisStatusBitGet	Return the state of a status bit.
AxisStatusWordGet	Get the DS402 status word.
AxisStepperMotorLoopbackGet	Determine if the stepper is open or closed loop.
AxisStepperMotorLoopbackSet	Configure the stepper to be open or closed loop.
AxisStepperMotorPulseTypeGet
AxisStepperMotorPulseTypeSet
AxisStopTimeGet	Get Stop Event deceleration time.
AxisStopTimeSet	Set the deceleration time for a Stop Event.
AxisStreamingOutputAdd
AxisStreamingOutputAdd
AxisStreamingOutputsClear	Clear the contents of the Streaming Output List.
AxisStreamingOutputsEnableSet	Sets whether Streaming Output is enabled (true) or disabled (false).
AxisThrowExceptions	Configure a class to throw exceptions.
AxisTrace	Enables/Disables trace output.
AxisTraceFileClose	Stops Logging to the file.
AxisTraceFileSet	Channels Tracing messages to specified file.
AxisTraceInjectMessage	Add a message to the Trace Log.
AxisTraceMaskClear	Clear the trace output mask.
AxisTraceMaskOffSet	Turn off a particular trace output mask.
AxisTraceMaskOnGet	Check to see if a particular trace output mask is turned on.
AxisTraceMaskOnSet	Turn on a particular trace output mask.
AxisTriggeredModify	Modify the currently execuing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE state.
AxisTriggeredModifyDecelerationGet	Get the deceleration rate for an Triggered Modify Event.
AxisTriggeredModifyDecelerationSet	Set the deceleration rate for an Triggered Modify Event.
AxisTriggeredModifyJerkPercentGet	Get the jerk percent for an Triggered Modify Event.
AxisTriggeredModifyJerkPercentSet	Set the jerk percent for an Triggered Modify Event.
AxisUnmap	Removes the axis mapping relationship of the MultiAxis.
AxisUserLabelGet	Get the axis User defined Label.
AxisUserLabelSet	Set the axis User defined Label.
AxisUserUnitsGet	Get the number of counts per User Unit.
AxisUserUnitsSet	Sets the number of counts per User Unit.
AxisUserUnitsToCounts	Convert from UserUnits to raw feedback counts.
AxisVelocityToleranceGet	Get the velocity tolerance used for settling.
AxisVelocityToleranceSet	Set the Velocity Tolerance used for settling.
AxisVersionGet	Get the RSI RapidCode version.
AxisWarningMsgCheck	Check to see if an RSIErrorMessage is a warning (true) or not (false).
ControllerAddressDataTypeGet	Get the data type for an address on the MotionController.
ControllerAddressFromStringGet	Get a controller memory address from string.
ControllerAddressGet	Get the an address for some location on the MotionController.
ControllerAddressGet	Get the an address for some location on the MotionController.
ControllerAxisCountGet	Get the number of axes processing.
ControllerAxisFrameBufferSizeGet	Get Frame buffer size for the axis.
ControllerAxisFrameBufferSizeSet	Set Frame buffer size for the axis.
ControllerAxisLicenseCountGet	Get the number of licensed Axis objects on this motion controller. If you need more, call RSI.
ControllerBackgroundCycleCounterGet	Get the current value of the controller's processor's background cycle counter.
ControllerCompensatorConfigSet	Configure a 2D compensator.
ControllerCompensatorConfigSet	Configure a 2D compensator.
ControllerCompensatorCountGet	Get the number of Compensators available in the firmware.
ControllerCompensatorCountSet	Set the number of Compensators available in the firmware.
ControllerCompensatorDimensionGet	Get the dimension of the compensator.
ControllerCompensatorDisable	Disables the compensator only if it will not cause errors.
ControllerCompensatorDisable	Disables the compensator only if it will not cause errors.
ControllerCompensatorEnable	Enables the compensator only if it will cause no errors.
ControllerCompensatorPointCountGet	Get the number of points for use with a Compensator.
ControllerCompensatorPointCountSet	Set the number of points for use with a Compensator.
ControllerCompensatorPositionGet	Get the compensator position.
ControllerCompensatorTableClear	Sets all values in the compensator table to 0.
ControllerCompensatorTableGet	Read the table for a configured compensator.
ControllerCompensatorTableSet	Override the table for a configured compensator.
ControllerControllerTypeGet	Get the type of motion controller.
ControllerErrorLogClear	Clear the error log.
ControllerErrorLogCountGet	Get the number of software errors in the error log.
ControllerErrorMessageGet	Get the detailed text message for an RSIErrorMessage.
ControllerExternalMemorySizeGet
ControllerFirmwareAddressGet	Convert a host controller address to a firmware address.
ControllerFirmwareOptionGet	Get the firmware option number.
ControllerFirmwareVersionGet	Get the firmware version.
ControllerHasMechaWare	Returns true if this RMP firmware supports MechaWare.
ControllerHostAddressGet	Convert a firmware address to a host controller address.
ControllerInitializationStateGet
ControllerInterruptEnableSet	Control interrupts for this class.
ControllerInterruptMaskAllSet	Set all the bits of the interrupt mask to get interrupts for ALL sources.
ControllerInterruptMaskClear	Clear the interrupt mask so no interrupts will be generated.
ControllerInterruptMaskOffSet	Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
ControllerInterruptMaskOnGet	Get the status of the interrupt mask for the given RSIEventType.
ControllerInterruptMaskOnSet	Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
ControllerInterruptMotionIdGet	Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
ControllerInterruptNameGet	Get the text name of an interrupt type.
ControllerInterruptSampleTimeGet	Get the sample timer value when the last interrupt was generated.
ControllerInterruptSourceNumberGet	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
ControllerInterruptUserDataDoubleGet	Get the user data associated with the interrupt, as a 64-bit double.
ControllerInterruptUserDataGet	Get the user data associated with the interrupt, as a 64-bit unsigned integer.
ControllerInterruptWait	Suspend the current thread until an interrupt arrives from the controller.
ControllerInterruptWake	Wake all threads waiting for a controller interrupt.
ControllerIsLicensed	Check to see if this MotionController is licensed.
ControllerLastNetworkStartErrorGet	Get the last (most recent) network start error.
ControllerMechaWareLicenseGet	Returns true if this motion controller is licensed to run MechaWare.
ControllerMemoryDoubleGet	Read a 64-bit double value from controller memory.
ControllerMemoryDoubleSet	Write a 64-bit double value to controller memory.
ControllerMemoryGet	Read controller memory.
ControllerMemorySet	Write a value to controller memory.
ControllerMemoryToFile
ControllerMotionCountGet	Get the number of Motion Supervisors available in the firmware.
ControllerMotionHoldGateGet	Get the state of the hold gate.
ControllerMotionHoldGateSet	Set the Motion Hold Gate.
ControllerMpiVersionMajor	Get the major MPI version.
ControllerMpiVersionMinor	Get the minor MPI version.
ControllerMpiVersionRelease	Get the release MPI version.
ControllerNetworkCounterGet	Read the network counter. This increments by one for each cycle of the network.
ControllerNetworkInputAddressGet
ControllerNetworkInputBitOffsetGet
ControllerNetworkInputBitSizeGet	Get the size (in bits) of a network input.
ControllerNetworkInputCountGet	Get the number of PDO inputs found on the network.
ControllerNetworkInputDataTypeNameGet
ControllerNetworkInputNameGet	Get the name of a PDO network input.
ControllerNetworkInputValueGet
ControllerNetworkLogMessageCountGet
ControllerNetworkLogMessageGet
ControllerNetworkNodeCountGet
ControllerNetworkOutputAddressGet	Returns an Address of a Network Output.
ControllerNetworkOutputAddressGet	Returns an Address of a Network Output.
ControllerNetworkOutputBitOffsetGet	Get the raw PDO offset for an output.
ControllerNetworkOutputBitSizeGet	Get the size (in bits) of a PDO output.
ControllerNetworkOutputCountGet
ControllerNetworkOutputDataTypeNameGet
ControllerNetworkOutputIntendedValueGet	Gets the value set by the cyclic RMP processes.
ControllerNetworkOutputNameGet	Get the name of a PDO output.
ControllerNetworkOutputOverrideGet	Gets if the NetworkOutputValue or the RMP cyclic value is exchanged over EtherCAT.
ControllerNetworkOutputOverrideSet	Set NetworkOutputValue to override RMP cyclic value.
ControllerNetworkOutputOverrideValueGet	Sets a PDO output directly.
ControllerNetworkOutputOverrideValueSet	Sets a PDO output directly.
ControllerNetworkOutputSentValueGet	Gets the value sent out over EtherCAT.
ControllerNetworkOutputValueGet	Gets the value sent out over EtherCAT.
ControllerNetworkOutputValueSet	Sets a PDO output directly.
ControllerNetworkShutdown	Shutdown the network. For EtherCAT, this will kill the RMPNetwork process.
ControllerNetworkStart	Start the network with RSINetworkStartupMethodNORMAL.
ControllerNetworkStart	Start the network with RSINetworkStartupMethodNORMAL.
ControllerNetworkStart	Start the network with RSINetworkStartupMethodNORMAL.
ControllerNetworkStart	Start the network with RSINetworkStartupMethodNORMAL.
ControllerNetworkStateGet
ControllerNetworkSynchronizedGet	Returns true if the network is synchronized with distributed clocks.
ControllerNetworkTechnologyTypeGet	Get the network technology type EtherCAT.
ControllerNetworkTimingClear	Clear all the network timing values.
ControllerNetworkTimingDeltaGet	Get the number of microseconds since the previous network packet was sent.
ControllerNetworkTimingEnableSet	Enable or disable the firmware to start timing the network packets.
ControllerNetworkTimingMaxGet	Get the maximum microseconds recorded between consecutive network packets.
ControllerNetworkTimingMinGet	Get the minimum microseconds recorded between network packets.
ControllerNetworkTimingThresholdHighCountGet	Get the number of network packets that were sent to slowly (above the high threshold).
ControllerNetworkTimingThresholdHighSet	Set a high threshold. The RMP will count the number of network packets sent above this threshold (too long between packets).
ControllerNetworkTimingThresholdLowCountGet	Get the number of network packets that were sent to quickly (below the low threshold)
ControllerNetworkTimingThresholdLowSet	Set a low threshold. The RMP will count the number of network packets sent below this threshold (too short between packets).
ControllerNetworkTypeGet	Returns network type. (Currently only STRING type is supported.)
ControllerNumberGet	Get the zero-based index of this object.
ControllerPackageVariantGet	Get the motion controller package.
ControllerProcessorTypeGet	Get the processor type.
ControllerProcessorUsageClear	Clear the processor usage percent.
ControllerProcessorUsageGet	Get the processor usage percent.
ControllerRecorderBufferHighCountSet	Set the high count for the recording buffer.
ControllerRecorderBufferHighCountSet	Set the high count for the recording buffer.
ControllerRecorderBufferSizeGet	Get Frame buffer size for the Recorder.
ControllerRecorderBufferSizeSet	Set buffer size for the Recorder.
ControllerRecorderCircularBufferSet	Configure recorder as circular buffer (or not).
ControllerRecorderCircularBufferSet	Configure recorder as circular buffer (or not).
ControllerRecorderCountGet	Get the number of Recorder available in the firmware.
ControllerRecorderCountSet	Set the number of processed Recorders in the controller.
ControllerRecorderDataAddressSet	Setup the addresses to be recorded.
ControllerRecorderDataAddressSet	Setup the addresses to be recorded.
ControllerRecorderDataCountSet	Set the number of data values to be recorded.
ControllerRecorderDataCountSet	Set the number of data values to be recorded.
ControllerRecorderEnabledGet	Determine if the recorder is recording.
ControllerRecorderEnabledGet	Determine if the recorder is recording.
ControllerRecorderPeriodSet	Set the number of samples between records.
ControllerRecorderPeriodSet	Set the number of samples between records.
ControllerRecorderRecordCountGet	Get the number of records that are stored and ready for reading.
ControllerRecorderRecordCountGet	Get the number of records that are stored and ready for reading.
ControllerRecorderRecordDataDoubleGet	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
ControllerRecorderRecordDataDoubleGet	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
ControllerRecorderRecordDataDoubleGet	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
ControllerRecorderRecordDataRetrieve	Retrieve one record of recorded data.
ControllerRecorderRecordDataRetrieve	Retrieve one record of recorded data.
ControllerRecorderRecordDataRetrieveBulk	Retrieve a group of records of recorded data.
ControllerRecorderRecordDataValueGet	Get one value from a retrieved record.
ControllerRecorderRecordDataValueGet	Get one value from a retrieved record.
ControllerRecorderRecordDataValueGet	Get one value from a retrieved record.
ControllerRecorderRecordMaxCountGet	Get the maximum number of records the recorder can store.
ControllerRecorderRecordMaxCountGet	Get the maximum number of records the recorder can store.
ControllerRecorderReset	Reset the recorder.
ControllerRecorderReset	Reset the recorder.
ControllerRecorderStart	Start recording data.
ControllerRecorderStart	Start recording data.
ControllerRecorderStop	Stop recording data.
ControllerRecorderStop	Stop recording data.
ControllerRsiErrorMessageGet	Get the RSI-specific error message text for a specific RSIErrorMessage.
ControllerRSIVersionMajor	Get the major RSI version.
ControllerRSIVersionMicro	Get the micro RSI version.
ControllerRSIVersionMinor	Get the minor RSI version.
ControllerRSIVersionPatch	Get the patch RSI version.
ControllerSampleCounterGet	Get the current value of the controller's processor's sample counter.
ControllerSampleRateGet
ControllerSampleRateSet
ControllerSampleWait	Wait for controller firmware to execute samples.
ControllerSerialNumberGet	Get the controller's serial number.
ControllerServerNameGet	Get the name of the server. (Valid if controller type is CLIENT.)
ControllerServerPortGet	Get the TCP port of the server. (Valid if controller type is CLIENT.)
ControllerServiceThreadEnableSet	Enable or disable the service thread.
ControllerServiceThreadStateGet	Returns true if the service thread was started.
ControllerStringFromAddressGet	Get a human-readable string from a memory address.
ControllerSyncInterruptEnableSet	Configure Sync (periodic) interrupts for the controller.
ControllerSyncInterruptHostProcessFlagGet	Get the host process flag.
ControllerSyncInterruptHostProcessFlagSet	Set the Host Process flag.
ControllerSyncInterruptHostProcessStatusBitGet	See if the host was processing too int32_t on previous Sync Interrupt.
ControllerSyncInterruptHostProcessStatusClear	Clear the Host Process status bit.
ControllerSyncInterruptHostProcessTimeGet	Get the total number of microseconds availble for host processing.
ControllerSyncInterruptPeriodSet	Configure the period for the Sync Interrupt on the controller.
ControllerSyncInterruptWait	Suspend the current thread until an interrupt arrives from the controller.
ControllerThrowExceptions	Configure a class to throw exceptions.
ControllerTrace	Enables/Disables trace output.
ControllerTraceFileClose	Stops Logging to the file.
ControllerTraceFileSet	Channels Tracing messages to specified file.
ControllerTraceInjectMessage	Add a message to the Trace Log.
ControllerTraceMaskClear	Clear the trace output mask.
ControllerTraceMaskOffSet	Turn off a particular trace output mask.
ControllerTraceMaskOnGet	Check to see if a particular trace output mask is turned on.
ControllerTraceMaskOnSet	Turn on a particular trace output mask.
ControllerUnsupportedOptionSet	deprecated
ControllerUserLimitActionGet	Get the user limit action.
ControllerUserLimitAxisNumberGet	Get the user limit axis number.
ControllerUserLimitConditionAddressGet	Get the user limit condition address.
ControllerUserLimitConditionDataTypeGet	Get the user limit condition data type.
ControllerUserLimitConditionLimitValueDoubleGet	Get the user limit condition limit value (as 64-bit double).
ControllerUserLimitConditionLimitValueGet	Get the user limit condition value.
ControllerUserLimitConditionLogicGet	Get the user limit condition logic.
ControllerUserLimitConditionMaskGet	Get the user limit condition mask.
ControllerUserLimitConditionSet	Set the conditions for a User Limit with a 32-bit integer trigger value.
ControllerUserLimitConditionSet	Set the conditions for a User Limit with a 32-bit integer trigger value.
ControllerUserLimitConfigSet	Configure a User Limit.
ControllerUserLimitConfigSet	Configure a User Limit.
ControllerUserLimitCountGet	Get the number of UserLimits processing in the firmware.
ControllerUserLimitCountMax	Get the total number of User Limits available.
ControllerUserLimitCountSet	Set the number of processed UserLimits in the MotionController.
ControllerUserLimitDisable	Disable the processing of a User Limit.
ControllerUserLimitDurationGet	Get the user limit duration (seconds).
ControllerUserLimitEnableGet	Get the enabled state of a User Limit.
ControllerUserLimitEnableSet	Enable or disable a user limit to be processed by the RMP firmware.
ControllerUserLimitInterruptUserDataAddressGet	Get the user limit interrupt user data address.
ControllerUserLimitInterruptUserDataAddressSet	Set the User Data address based on a User Limit trigger.
ControllerUserLimitOutputAddressGet	Get the user limit output address. The output will write its value to this address.
ControllerUserLimitOutputAndMask64Get	Get the user limit output 64-bit AND mask.
ControllerUserLimitOutputAndMaskGet	Get the user limit output AND mask.
ControllerUserLimitOutputDataTypeGet	Get the user limit output data type.
ControllerUserLimitOutputDoubleGet	Get the user limit output 64-bit double value.
ControllerUserLimitOutputEnableGet	Returns true if the user limit output is enabled.
ControllerUserLimitOutputInputAddressGet	Get the user limit output address. The user limit will output the value stored at this address when the user limit triggers.
ControllerUserLimitOutputOrMask64Get	Get the user limit output 64-bit OR mask.
ControllerUserLimitOutputOrMaskGet	Get the user limit output OR mask.
ControllerUserLimitOutputSet	Configure a User Limit Output block.
ControllerUserLimitOutputSet	Configure a User Limit Output block.
ControllerUserLimitOutputValueGet	Get the user limit output value.
ControllerUserLimitReset	Clear the latched status of a User Limit.
ControllerUserLimitSingleShotGet	Returns true if the user limit is configured for single-shot.
ControllerUserLimitStateGet	Get the state of a User Limit.
ControllerUserLimitTriggerTypeGet	Get the user limit trigger type.
ControllerUserVersionGet	Get a customer designated Version for the application.
ControllerUserVersionSet	Sets a customer designed Version for the application.
ControllerVersionGet	Get the RSI RapidCode version.
ControllerWarningMsgCheck	Check to see if an RSIErrorMessage is a warning (true) or not (false).
IOAnalogInGet	Get the value of an analog input.
IOAnalogOutGet	Get the value of an analog output.
IOAnalogOutSet	Set the value of an analog output.
IODigitalInGet	Get the state of a digital input bit.
IODigitalOutGet	Get the state of a Digital Output bit.
IODigitalOutSet	Set the state of a digital output bit.
IOErrorLogClear	Clear the error log.
IOErrorLogCountGet	Get the number of software errors in the error log.
IOErrorMessageGet	Get the detailed text message for an RSIErrorMessage.
IOIOExists	IOExists validates your IO object is an IO Node.
IOMpiVersionMajor	Get the major MPI version.
IOMpiVersionMinor	Get the minor MPI version.
IOMpiVersionRelease	Get the release MPI version.
IONumberGet	Get the zero-based IO number.
IORsiErrorMessageGet	Get the RSI-specific error message text for a specific RSIErrorMessage.
IORSIVersionMajor	Get the major RSI version.
IORSIVersionMicro	Get the micro RSI version.
IORSIVersionMinor	Get the minor RSI version.
IORSIVersionPatch	Get the patch RSI version.
IOThrowExceptions	Configure a class to throw exceptions.
IOTrace	Enables/Disables trace output.
IOTraceFileClose	Stops Logging to the file.
IOTraceFileSet	Channels Tracing messages to specified file.
IOTraceInjectMessage	Add a message to the Trace Log.
IOTraceMaskClear	Clear the trace output mask.
IOTraceMaskOffSet	Turn off a particular trace output mask.
IOTraceMaskOnGet	Check to see if a particular trace output mask is turned on.
IOTraceMaskOnSet	Turn on a particular trace output mask.
IOUserLabelGet
IOUserLabelSet
IOVersionGet	Get the RSI RapidCode version.
IOWarningMsgCheck	Check to see if an RSIErrorMessage is a warning (true) or not (false).
MultiAxisAbort	Abort an axis.
MultiAxisAddressDataTypeGet	Get the data type for an address of the MultiAxis.
MultiAxisAddressGet	Get the host address for some location on the MultiAxis.
MultiAxisAmpEnableGet	Get the enabled/disabled state of the multi axis.
MultiAxisAmpEnableSet	Enable all amplifiers.
MultiAxisAmpEnableSet	Enable all amplifiers.
MultiAxisAxisCountGet	Get the axis count.
MultiAxisAxisMapCountGet	Get the number of Axis objects in the Axis map.
MultiAxisAxisRemoveAll	Remove all axes from a MultiAxis group.s.
MultiAxisClearFaults	Clear all faults for an Axis or MultiAxis.
MultiAxisErrorLogClear	Clear the error log.
MultiAxisErrorLogCountGet	Get the number of software errors in the error log.
MultiAxisErrorMessageGet	Get the detailed text message for an RSIErrorMessage.
MultiAxisEStop	E-Stop an axis.
MultiAxisEStopAbort	E-Stop, then abort an axis.
MultiAxisEStopModify	E-Stop with a deceleration rate.
MultiAxisEStopModifyAbort
MultiAxisEStopTimeGet	Get E-Stop Event deceleration time.
MultiAxisEStopTimeSet	Set the deceleration time for an E-Stop Event.
MultiAxisFeedRateGet	Get the axis feed rate.
MultiAxisFeedRateSet	Set the feed rate for an Axis.
MultiAxisInterruptEnableSet	Control interrupts for this class.
MultiAxisInterruptMaskAllSet	Set all the bits of the interrupt mask to get interrupts for ALL sources.
MultiAxisInterruptMaskClear	Clear the interrupt mask so no interrupts will be generated.
MultiAxisInterruptMaskOffSet	Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
MultiAxisInterruptMaskOnGet	Get the status of the interrupt mask for the given RSIEventType.
MultiAxisInterruptMaskOnSet	Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
MultiAxisInterruptMotionIdGet	Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
MultiAxisInterruptNameGet	Get the text name of an interrupt type.
MultiAxisInterruptSampleTimeGet	Get the sample timer value when the last interrupt was generated.
MultiAxisInterruptSourceNumberGet	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
MultiAxisInterruptUserDataDoubleGet	Get the user data associated with the interrupt, as a 64-bit double.
MultiAxisInterruptUserDataGet	Get the user data associated with the interrupt, as a 64-bit unsigned integer.
MultiAxisInterruptWait	Suspend the current thread until an interrupt arrives from the controller.
MultiAxisInterruptWake
MultiAxisIsMapped	Check to see if the axis mapping is active on the firmware.
MultiAxisMap	Writes the axis mapping relationship to the Controller.
MultiAxisMotionAttributeMaskDefaultSet	Restore the motion attribute mask to the RapidCode default.
MultiAxisMotionAttributeMaskOffSet	Turn off a particular motion attribute mask.
MultiAxisMotionAttributeMaskOnGet	Check to see if a particular motion attribute mask is turned on.
MultiAxisMotionAttributeMaskOnSet	Turn on a particular motion attribute mask.
MultiAxisMotionDelayGet	Get the delay (seconds) that will occur before motion starts.
MultiAxisMotionDelaySet	Set the time (seconds) that a motion will wait before starting.
MultiAxisMotionDoneGet	Check to see if motion is done and settled.
MultiAxisMotionDoneWait	Waits for a move to complete.
MultiAxisMotionDoneWait	Waits for a move to complete.
MultiAxisMotionElementIdExecutingGet
MultiAxisMotionFinalVelocityGet	Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!)
MultiAxisMotionFinalVelocitySet	Sets final velocity value in UserUnits (!!! only used if FINAL_VEL motion attribute is used !!!)
MultiAxisMotionHoldAxisLogicGet	Get the logic when holding for Axis ActualPosition.
MultiAxisMotionHoldAxisLogicSet	Set the logic when holding for Axis ActualPosition.
MultiAxisMotionHoldAxisNumberGet	Gets the Axis number.
MultiAxisMotionHoldAxisNumberSet	Sets the Axis number for Motion Hold.
MultiAxisMotionHoldAxisPositionGet	Gets the Axis position.
MultiAxisMotionHoldAxisPositionSet	Sets the Axis position.
MultiAxisMotionHoldGateGet	Get the state of the hold gate.
MultiAxisMotionHoldGateNumberGet	Returns the Motion Hold Gate number that the axis or multiaxis is set to.
MultiAxisMotionHoldGateNumberSet	Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate.
MultiAxisMotionHoldGateSet	Set the Motion Hold Gate.
MultiAxisMotionHoldTimeoutGet	Get the motion hold timeout value.
MultiAxisMotionHoldTimeoutSet	Set the motion hold timeout value.
MultiAxisMotionHoldTypeGet	Get the motion hold attribute type.
MultiAxisMotionHoldTypeSet	Set the motion hold type.
MultiAxisMotionHoldUserAddressGet	Gets the Motion Hold User Address.
MultiAxisMotionHoldUserAddressSet	Sets the Motion Hold User Address.
MultiAxisMotionHoldUserMaskGet	Gets the Motion Hold User Mask.
MultiAxisMotionHoldUserMaskSet	Sets the Motion Hold User bit mask.
MultiAxisMotionHoldUserPatternGet	Gets the Motion Hold user bit pattern.
MultiAxisMotionHoldUserPatternSet	Sets the Motion Hold User pattern bit mask.
MultiAxisMotionIdExecutingGet
MultiAxisMotionIdGet	Get the motion identifier.
MultiAxisMotionIdSet	Set the Motion identifier.
MultiAxisMovePT	A move commanded by a list of position and time points.
MultiAxisMovePVAJT
MultiAxisMovePVT	Move commanded by list of positions, velocities, and times.
MultiAxisMoveSCurve	Point-to-point S-Curve Move.
MultiAxisMoveSCurve	Point-to-point S-Curve Move.
MultiAxisMoveTrapezoidal	Point-to-point trapezoidal move.
MultiAxisMoveTrapezoidal	Point-to-point trapezoidal move.
MultiAxisMoveVector	Point-to-point vector move.
MultiAxisMoveVectorRelative
MultiAxisMoveVelocity	Velocity move.
MultiAxisMoveVelocity	Velocity move.
MultiAxisMoveVelocitySCurve	Velocity move with non-constant acceleration.
MultiAxisMpiVersionMajor	Get the major MPI version.
MultiAxisMpiVersionMinor	Get the minor MPI version.
MultiAxisMpiVersionRelease	Get the release MPI version.
MultiAxisNumberGet	Get the axis number.
MultiAxisPathArcAdd	Add an arc segment to the path.
MultiAxisPathBlendSet	Set the blending attribute.
MultiAxisPathLineAdd	Add a line segment to the path.
MultiAxisPathListEnd	End a line and arc point list for path motion.
MultiAxisPathListStart	Start a line and arc point list for path motion.
MultiAxisPathMotionStart	Start the path motion.
MultiAxisPathPlanTypeGet	Get the path motion planning type.
MultiAxisPathPlanTypeSet	Set the path motion planning type.
MultiAxisPathRatioGet
MultiAxisPathRatioSet	Set the scale factor ratios for each axis.
MultiAxisPathTimeSliceGet	Set the time slice for the Path.
MultiAxisPathTimeSliceSet	Set the time slice for the Path.
MultiAxisResume	Resume an axis.
MultiAxisRsiErrorMessageGet	Get the RSI-specific error message text for a specific RSIErrorMessage.
MultiAxisRSIVersionMajor	Get the major RSI version.
MultiAxisRSIVersionMicro	Get the micro RSI version.
MultiAxisRSIVersionMinor	Get the minor RSI version.
MultiAxisRSIVersionPatch	Get the patch RSI version.
MultiAxisSourceGet	Get the source of an error state for an Axis or MultiAxis.
MultiAxisSourceNameGet	Get the name (string) of the source of an error for an Axis or MultiAxis.
MultiAxisStateGet	Get the Axis or MultiAxis state.
MultiAxisStatusBitGet	Return the state of a status bit.
MultiAxisStopTimeGet	Get Stop Event deceleration time.
MultiAxisStopTimeSet	Set the deceleration time for a Stop Event.
MultiAxisStreamingOutputAdd
MultiAxisStreamingOutputAdd
MultiAxisStreamingOutputsClear	Clear the contents of the Streaming Output List.
MultiAxisStreamingOutputsEnableSet	Sets whether Streaming Output is enabled (true) or disabled (false).
MultiAxisThrowExceptions	Configure a class to throw exceptions.
MultiAxisTrace	Enables/Disables trace output.
MultiAxisTraceFileClose	Stops Logging to the file.
MultiAxisTraceFileSet	Channels Tracing messages to specified file.
MultiAxisTraceInjectMessage	Add a message to the Trace Log.
MultiAxisTraceMaskClear	Clear the trace output mask.
MultiAxisTraceMaskOffSet	Turn off a particular trace output mask.
MultiAxisTraceMaskOnGet	Check to see if a particular trace output mask is turned on.
MultiAxisTraceMaskOnSet	Turn on a particular trace output mask.
MultiAxisTriggeredModify	Modify the currently execuing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE state.
MultiAxisUnmap	Removes the axis mapping relationship of the MultiAxis.
MultiAxisUserLabelGet	Get the MultiAxis User defined Label.
MultiAxisUserLabelSet	Set the MultiAxis User defined Label.
MultiAxisVectorAccelerationGet	Get the vector acceleration.
MultiAxisVectorAccelerationSet	Set the vector acceleration.
MultiAxisVectorDecelerationGet	Get the vector deceleration.
MultiAxisVectorDecelerationSet	Set the vector deceleration.
MultiAxisVectorJerkPercentGet	Get the vector jerk percent.
MultiAxisVectorJerkPercentSet	Set the jerk percent for a vector move.
MultiAxisVectorVelocityGet	Get the vector velocity.
MultiAxisVectorVelocitySet	Set the vector velocity.
MultiAxisVersionGet	Get the RSI RapidCode version.
MultiAxisWarningMsgCheck	Check to see if an RSIErrorMessage is a warning (true) or not (false).
NetworkNodeAKDASCIICommand	Send a Kollmorgen AKD ASCII command (NodeType must equal KOLLMORGEN_AKD)
NetworkNodeAnalogInAddressGet	Get the controller memory address for a Node's analog input.
NetworkNodeAnalogInCountGet	Get the number of analog inputs on this node.
NetworkNodeAnalogInGet	Get the value of an analog input.
NetworkNodeAnalogInMaskGet	Get the bitwise mask for a Node's analog input.
NetworkNodeAnalogOutAddressGet	Get the controller memory address for a Node's analog output.
NetworkNodeAnalogOutCountGet	Get the number of analog outputs on this node.
NetworkNodeAnalogOutGet	Get the value of an analog output.
NetworkNodeAnalogOutMaskGet	Get the bitwise mask for a Node's analog output.
NetworkNodeAnalogOutSet	Set the value of an analog output.
NetworkNodeAxisCountGet	Get the number of Axis objects associated with this NetworkNode.
NetworkNodeClearFaults	Clear the faults for a specific axis number on this node.
NetworkNodeDigitalInAddressGet	Get the controller memory address for a Node's digital input.
NetworkNodeDigitalInCountGet	Get the number of digital inputs on this node.
NetworkNodeDigitalInGet	Get the state of a digital input.
NetworkNodeDigitalInMaskGet	Get the bitwise mask for a Node's digital input.
NetworkNodeDigitalOutAddressGet	Get the controller memory address for a Node's digital output.
NetworkNodeDigitalOutCountGet	Get the number of digital outputs on this node.
NetworkNodeDigitalOutGet	Get the state of a digital output.
NetworkNodeDigitalOutMaskGet	Get the bitwise mask for a Node's digital output.
NetworkNodeDigitalOutSet	Set the state of a digital output.
NetworkNodeErrorLogClear	Clear the error log.
NetworkNodeErrorLogCountGet	Get the number of software errors in the error log.
NetworkNodeErrorMessageGet	Get the detailed text message for an RSIErrorMessage.
NetworkNodeExists	Returns true if this NetworkNode exists on a physical network.
NetworkNodeHasIO	Returns true if the node has any kind of inputs or outputs (analog/digital).
NetworkNodeIsEtherCAT	Check if the node is EtherCAT.
NetworkNodeIsSynqNet	Check if the node is SynqNet.
NetworkNodeMpiVersionMajor	Get the major MPI version.
NetworkNodeMpiVersionMinor	Get the minor MPI version.
NetworkNodeMpiVersionRelease	Get the release MPI version.
NetworkNodeNameGet	Get the Node's Short Name that appears on NodeInfo.xml.
NetworkNodeNumberGet	Get the zero-based index of this object.
NetworkNodeProductCodeGet	Get the EtherCAT product code.
NetworkNodeProductNameGet	Get the Node's Product/Long Name that appears on NodeInfo.xml.
NetworkNodeRevisionGet	Get the EtherCAT hardware revision.
NetworkNodeRsiErrorMessageGet	Get the RSI-specific error message text for a specific RSIErrorMessage.
NetworkNodeRSIVersionMajor	Get the major RSI version.
NetworkNodeRSIVersionMicro	Get the micro RSI version.
NetworkNodeRSIVersionMinor	Get the minor RSI version.
NetworkNodeRSIVersionPatch	Get the patch RSI version.
NetworkNodeSegmentAnalogInCountGet	Get the number of analog inputs on a segment.
NetworkNodeSegmentAnalogOutCountGet	Get the number of analog outputs on a segment.
NetworkNodeSegmentCountGet	Get the number of segments on this node.
NetworkNodeSegmentDigitalInCountGet	Get the number of digital inputs on a segment.
NetworkNodeSegmentDigitalOutCountGet	Get the number of digital outputs on a segment.
NetworkNodeSegmentIDGet	Get the ID number of a segment.
NetworkNodeSerialNumberGet	Get the serial number as text.
NetworkNodeServiceChannelRead	Read a number from the SDO.
NetworkNodeServiceChannelRead	Read a number from the SDO.
NetworkNodeServiceChannelReadString	Read a string from the SDO.
NetworkNodeServiceChannelReadString	Read a string from the SDO.
NetworkNodeServiceChannelWrite	Write a number in the SDO.
NetworkNodeServiceChannelWrite	Write a number in the SDO.
NetworkNodeStationAliasGet	Get the EtherCAT station alias.
NetworkNodeStatusWordGet	Get the DS402 status word.
NetworkNodeThrowExceptions	Configure a class to throw exceptions.
NetworkNodeTrace	Enables/Disables trace output.
NetworkNodeTraceFileClose	Stops Logging to the file.
NetworkNodeTraceFileSet	Channels Tracing messages to specified file.
NetworkNodeTraceInjectMessage	Add a message to the Trace Log.
NetworkNodeTraceMaskClear	Clear the trace output mask.
NetworkNodeTraceMaskOffSet	Turn off a particular trace output mask.
NetworkNodeTraceMaskOnGet	Check to see if a particular trace output mask is turned on.
NetworkNodeTraceMaskOnSet	Turn on a particular trace output mask.
NetworkNodeTypeGet	Get the node type, as determined by the Vendor ID and Product Code.
NetworkNodeVendorIdGet	Get the EtherCAT vendor ID.
NetworkNodeVendorNameGet	Get the Node's Vendor Name that appears on NodeInfo.xml.
NetworkNodeVersionGet	Get the RSI RapidCode version.
NetworkNodeWarningMsgCheck	Check to see if an RSIErrorMessage is a warning (true) or not (false).