15 # if !defined(__INTIME__)
16 # define HAS_CARTESIAN_ROBOT 1
19 # define RSI_API __declspec(dllexport)
21 # define RSI_API __declspec(dllimport)
23 #elif defined(__linux__)
24 # define RSI_API __attribute__ ((visibility ("default")))
28 #if !defined(PURE_VIRTUAL)
29 #define PURE_VIRTUAL = 0
34 #if defined(__cplusplus)
47 class MotionController;
59 class StaticInstanceMediator
64 bool IsValid() {
return isValid; }
65 void OnDelete() { isValid =
false; }
66 void OnCreate() { isValid =
true; }
126 number = RSIErrorMessage::RSIMessageOK;
138 #elif defined(__linux__)
154 virtual const char*
what() const noexcept {
return text; }
193 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
195 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
197 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
199 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
201 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
203 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
205 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
210 virtual int32_t NumberGet() PURE_VIRTUAL;
248 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
265 virtual const
RsiError* const ErrorLogGet() PURE_VIRTUAL;
282 virtual
void ErrorLogClear() PURE_VIRTUAL;
304 virtual
void ThrowExceptions(
bool state) PURE_VIRTUAL;
338 virtual
void Trace(
bool state) PURE_VIRTUAL;
356 virtual
void TraceMaskOnSet(
RSITrace maskOn) PURE_VIRTUAL;
381 virtual
bool TraceMaskOnGet(
RSITrace maskOn) PURE_VIRTUAL;
400 virtual
void TraceMaskOffSet(
RSITrace maskOff) PURE_VIRTUAL;
417 virtual
void TraceMaskClear() PURE_VIRTUAL;
435 virtual
void TraceFileSet(const
char* const fileName) PURE_VIRTUAL;
451 virtual
void TraceFileClose() PURE_VIRTUAL;
469 virtual
void TraceInjectMessage(
RSITrace traceLevel, const
char* const message) PURE_VIRTUAL;
513 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
534 virtual int32_t
KeyGet(int32_t milliseconds) PURE_VIRTUAL;
557 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
586 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
674 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
699 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
702 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
705 virtual
void InterruptWake() PURE_VIRTUAL;
708 virtual
void InterruptMaskClear() PURE_VIRTUAL;
711 virtual
void InterruptMaskAllSet() PURE_VIRTUAL;
737 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
753 virtual
double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
768 StaticInstanceMediator* _mediator;
779 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
782 static inline constexpr uint32_t AxisCountMaximum = 64;
785 static inline constexpr uint32_t MotionCountMaximum = 64;
788 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
791 static inline constexpr uint32_t RecorderCountMaximum = 64;
794 static inline constexpr uint32_t CompensatorCountMaximum = 64;
797 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
800 static inline constexpr uint32_t SequencerGlobalCountMaximum = 191;
803 static inline constexpr
double SampleRateDefault = 1000.0;
927 virtual IO*
IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1049 virtual
void Refresh() PURE_VIRTUAL;
1056 virtual
void Shutdown() PURE_VIRTUAL;
1090 virtual uint32_t SerialNumberGet(
void) PURE_VIRTUAL;
1116 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1140 virtual
void SampleWait(uint32_t samples) PURE_VIRTUAL;
1147 virtual const
char* const ServerNameGet() PURE_VIRTUAL;
1150 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1197 virtual
double ProcessorUsageGet() PURE_VIRTUAL;
1211 virtual
void ProcessorUsageClear() PURE_VIRTUAL;
1217 virtual
void SampleRateSet(
double sampleRate) PURE_VIRTUAL;
1221 virtual
double SampleRateGet() PURE_VIRTUAL;
1242 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1265 virtual
void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1269 virtual
void AxisCountSet(int32_t axisCount,
bool setMotorFilterSupervisor) PURE_VIRTUAL;
1273 virtual
bool IsLicensed() PURE_VIRTUAL;
1276 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1279 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1282 virtual
bool MechaWareLicenseGet() PURE_VIRTUAL;
1285 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1313 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1334 virtual
void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1363 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1392 virtual
void UserVersionSet(int32_t version) PURE_VIRTUAL;
1396 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1417 virtual
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1435 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1465 virtual const
char* const FirmwareVersionGet() PURE_VIRTUAL;
1487 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1490 virtual
bool HasMechaWare() PURE_VIRTUAL;
1518 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1541 virtual
double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1571 virtual
void MemoryBlockGet(uint64_t address,
void* dataStart, int32_t size) PURE_VIRTUAL;
1590 virtual
void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1613 virtual
void MemoryDoubleSet(uint64_t address,
double dataDouble) PURE_VIRTUAL;
1643 virtual
void MemoryBlockSet(uint64_t address, const
void* const dataStart, int32_t size) PURE_VIRTUAL;
1666 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1696 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1725 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1741 virtual uint64_t AddressFromStringGet(const
char* const addressName) PURE_VIRTUAL;
1755 virtual const
char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1832 virtual
bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1854 virtual
void MotionHoldGateSet(int32_t gateNumber,
bool hold) PURE_VIRTUAL;
1870 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
1873 virtual
void NetworkStart() PURE_VIRTUAL;
1894 virtual
void NetworkShutdown() PURE_VIRTUAL;
1901 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
1904 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
1907 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
1912 virtual const
char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
1916 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
1920 virtual const
char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
1925 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
1932 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
1937 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
1941 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
1947 virtual const
char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
1950 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
1953 virtual const
char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
1971 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
1990 virtual
void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2012 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2029 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2043 virtual
void NetworkOutputOverrideSet(int32_t index,
bool outputOverride) PURE_VIRTUAL;
2056 virtual
bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2078 virtual
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2093 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2110 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2115 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2124 virtual const
char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2127 virtual
void NetworkTimingEnableSet(
bool enable) PURE_VIRTUAL;
2130 virtual
void NetworkTimingClear() PURE_VIRTUAL;
2133 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2136 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2139 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2142 virtual
void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2145 virtual
void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2148 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2151 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2154 virtual
bool NetworkSynchronizedGet() PURE_VIRTUAL;
2183 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
2209 virtual
void InterruptWake() PURE_VIRTUAL;
2241 virtual
void SyncInterruptEnableSet(
bool enable) PURE_VIRTUAL;
2271 virtual
void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2295 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2298 virtual
bool ServiceThreadStateGet() PURE_VIRTUAL;
2313 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2318 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2335 virtual
void SyncInterruptHostProcessFlagSet(
bool hostProcessFlag) PURE_VIRTUAL;
2350 virtual
bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2364 virtual
void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2395 virtual
void ServiceThreadEnableSet(
bool enable) PURE_VIRTUAL;
2425 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2447 virtual
void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2467 virtual
void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2470 virtual
void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2490 virtual
void RecorderCircularBufferSet(
bool enable) PURE_VIRTUAL;
2493 virtual
void RecorderCircularBufferSet(int32_t recorderNumber,
bool enable) PURE_VIRTUAL;
2512 virtual
void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2515 virtual
void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2535 virtual
void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2538 virtual
void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2546 virtual
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2568 virtual
void RecorderConfigureToTriggerOnMotion(
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2571 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2575 virtual
void RecorderConfigureToTriggerOnMotion(
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2578 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2597 virtual
bool RecorderEnabledGet() PURE_VIRTUAL;
2600 virtual
bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2620 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2623 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2640 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2643 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2661 virtual
void RecorderStart() PURE_VIRTUAL;
2664 virtual
void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2684 virtual
void RecorderStop() PURE_VIRTUAL;
2687 virtual
void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2708 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2711 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2729 virtual
void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2752 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2755 virtual
void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2775 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2778 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2800 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2803 virtual
double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2806 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2828 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2849 virtual
void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
2852 virtual
void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
2870 virtual
void RecorderReset() PURE_VIRTUAL;
2873 virtual
void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
2888 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
2909 virtual
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
2946 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
2969 virtual
void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
2983 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3007 virtual
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3024 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3050 virtual
void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber,
RSIAxisMasterType firstInputAxisType,
double firstInputAxisMinimum,
double firstInputAxisMaximum,
double firstInputAxisDelta, int32_t secondInputAxisNumber,
RSIAxisMasterType secondInputAxisType,
double secondInputAxisMinimum,
double secondInputAxisMaximum,
double secondInputAxisDelta, int32_t outputAxisNumber,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3084 virtual
void CompensatorConfigSet(int32_t compensatorNumber,
Axis* firstInputAxis,
RSIAxisMasterType firstInputAxisType,
double firstInputAxisMinimum,
double firstInputAxisMaximum,
double firstInputAxisDelta,
Axis* secondInputAxis,
RSIAxisMasterType secondInputAxisType,
double secondInputAxisMinimum,
double secondInputAxisMaximum,
double secondInputAxisDelta,
Axis* outputAxis,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3107 virtual
void CompensatorConfigSet(int32_t compensatorNumber, int32_t inputAxisNumber,
RSIAxisMasterType inputAxisType,
double inputAxisMinimum,
double inputAxisMaximum,
double inputAxisDelta, int32_t outputAxisNumber,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3131 virtual
void CompensatorConfigSet(int32_t compensatorNumber,
Axis* inputAxis,
RSIAxisMasterType inputAxisType,
double inputAxisMinimum,
double inputAxisMaximum,
double inputAxisDelta,
Axis* outputAxis,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3146 virtual
void CompensatorTableSet(int32_t compensatorNumber, const
double* const table) PURE_VIRTUAL;
3161 virtual
void CompensatorTableGet(int32_t compensatorNumber,
double* table) PURE_VIRTUAL;
3183 virtual
double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3204 virtual
void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3217 virtual
void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3221 virtual
void CompensatorDisable(int32_t compensatorNumber,
bool force) PURE_VIRTUAL;
3231 virtual
void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3263 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3286 virtual
void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3319 virtual
RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3322 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3325 virtual
double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3328 virtual
bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3356 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3381 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfDouble,
double limitValueDouble) PURE_VIRTUAL;
3384 virtual
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3387 virtual
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3390 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3393 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3396 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3399 virtual
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3429 virtual
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3433 virtual
void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3437 virtual
void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3441 virtual
void UserLimitOutputSet(int32_t number,
double limitValueDouble, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3460 virtual
void UserLimitOutputSet(int32_t number,
RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3465 virtual
bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3468 virtual
RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3471 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3474 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3477 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3480 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3483 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3486 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3489 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3493 virtual
double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3517 virtual
bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3541 virtual
bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3544 virtual
void UserLimitEnableSet(int32_t number,
bool enable) PURE_VIRTUAL;
3562 virtual
void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3577 virtual
void UserLimitReset(int32_t number) PURE_VIRTUAL;
3590 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3611 virtual
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3614 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3650 virtual
void MemoryToFile(const
char* const fileName) PURE_VIRTUAL;
3669 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3686 virtual
bool IsEtherCAT() PURE_VIRTUAL;
3689 virtual
bool IsSynqNet() PURE_VIRTUAL;
3699 virtual
bool HasIO() PURE_VIRTUAL;
3702 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3705 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3708 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool state) PURE_VIRTUAL;
3711 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3714 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3717 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3726 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3729 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3732 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3735 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3739 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3742 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3745 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3748 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3751 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3754 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3771 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3788 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3805 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3822 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3839 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3856 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3873 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3890 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
3904 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3909 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3925 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3930 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3948 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
3955 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3970 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue) PURE_VIRTUAL;
3979 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3986 virtual
char* AKDASCIICommand(const
char* const command) PURE_VIRTUAL;
3989 virtual
void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
3992 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4007 virtual const
char* const NameGet() PURE_VIRTUAL;
4022 virtual const
char* const ProductNameGet() PURE_VIRTUAL;
4037 virtual const
char* const VendorNameGet() PURE_VIRTUAL;
4040 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4043 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4046 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4049 virtual const
char* const SerialNumberGet() PURE_VIRTUAL;
4052 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4055 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4141 virtual int32_t NumberGet() PURE_VIRTUAL;
4182 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
4218 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
4252 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool outValue) PURE_VIRTUAL;
4278 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
4313 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
4348 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
4352 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
4353 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
4416 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4448 virtual
void TriggeredModify() PURE_VIRTUAL;
4478 virtual
void Stop() PURE_VIRTUAL;
4506 virtual
void Resume() PURE_VIRTUAL;
4534 virtual
void EStop() PURE_VIRTUAL;
4558 virtual
void EStopAbort() PURE_VIRTUAL;
4578 virtual
void EStopModify() PURE_VIRTUAL;
4582 virtual
void EStopModifyAbort() PURE_VIRTUAL;
4607 virtual
void Abort() PURE_VIRTUAL;
4637 virtual
void ClearFaults() PURE_VIRTUAL;
4667 virtual
void AmpEnableSet(
bool enable) PURE_VIRTUAL;
4700 virtual int32_t AmpEnableSet(
bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4725 virtual
void Map() PURE_VIRTUAL;
4747 virtual
void Unmap() PURE_VIRTUAL;
4754 virtual
bool IsMapped() PURE_VIRTUAL;
4774 virtual
void FeedRateSet(
double rate) PURE_VIRTUAL;
4796 virtual
double FeedRateGet() PURE_VIRTUAL;
4897 virtual const
char* const SourceNameGet(
RSISource source) PURE_VIRTUAL;
4923 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4953 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4977 virtual
bool MotionDoneGet() PURE_VIRTUAL;
5041 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
5059 virtual
void InterruptWake() PURE_VIRTUAL;
5084 virtual
double StopTimeGet() PURE_VIRTUAL;
5103 virtual
void StopTimeSet(
double seconds) PURE_VIRTUAL;
5122 virtual
double EStopTimeGet() PURE_VIRTUAL;
5141 virtual
void EStopTimeSet(
double seconds) PURE_VIRTUAL;
5161 virtual
double MotionDelayGet() PURE_VIRTUAL;
5185 virtual
void MotionDelaySet(
double seconds) PURE_VIRTUAL;
5209 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5230 virtual
void MotionIdSet(uint16_t
id) PURE_VIRTUAL;
5233 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5236 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5253 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
5263 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
5337 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5360 virtual
void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5380 virtual
double MotionHoldTimeoutGet() PURE_VIRTUAL;
5402 virtual
void MotionHoldTimeoutSet(
double seconds) PURE_VIRTUAL;
5429 virtual
bool MotionHoldGateGet() PURE_VIRTUAL;
5455 virtual
void MotionHoldGateSet(
bool hold) PURE_VIRTUAL;
5475 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5495 virtual
void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5516 virtual
double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5536 virtual
void MotionHoldAxisPositionSet(
double position) PURE_VIRTUAL;
5562 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5582 virtual
void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5601 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5620 virtual
void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5639 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5658 virtual
void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5661 virtual
void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5773 virtual
void MovePT(
RSIMotionType type, const
double* const position, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5808 virtual
void MovePVT(const
double* const position, const
double* const velocity, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5833 virtual
void MovePVAJT(const
double* const position, const
double* const velocity, const
double* const acceleration, const
double* const jerk, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5839 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5864 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5870 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on) PURE_VIRTUAL;
5892 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5910 virtual
void StreamingOutputsClear() PURE_VIRTUAL;
5932 virtual
void StreamingOutputsEnableSet(
bool enable) PURE_VIRTUAL;
5956 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5959 static inline constexpr
double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
6017 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel) PURE_VIRTUAL;
6041 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel,
double finalVel) PURE_VIRTUAL;
6108 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6125 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6247 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6257 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6343 virtual
void ActualPositionSet(
double position) PURE_VIRTUAL;
6364 virtual
double CompensationPositionGet() PURE_VIRTUAL;
6381 virtual
void CompensationPositionSet(
double position) PURE_VIRTUAL;
6397 virtual
double TargetPositionGet() PURE_VIRTUAL;
6425 virtual
double CommandPositionGet() PURE_VIRTUAL;
6463 virtual
void CommandPositionSet(
double position) PURE_VIRTUAL;
6491 virtual
void CommandPositionDirectSet(
double position) PURE_VIRTUAL;
6514 virtual
double OriginPositionGet() PURE_VIRTUAL;
6541 virtual
void OriginPositionSet(
double position) PURE_VIRTUAL;
6566 virtual
double PositionErrorGet() PURE_VIRTUAL;
6592 virtual
double CommandVelocityGet() PURE_VIRTUAL;
6619 virtual
double ActualVelocityGet() PURE_VIRTUAL;
6644 virtual
double CommandAccelGet() PURE_VIRTUAL;
6647 virtual
double CommandJerkGet() PURE_VIRTUAL;
6698 virtual
double UserUnitsGet() PURE_VIRTUAL;
6725 virtual
void UserUnitsSet(
double countsPerUserUnit) PURE_VIRTUAL;
6728 virtual
double UserUnitsToCounts(
double userUnits) PURE_VIRTUAL;
6731 virtual
double CountsToUserUnits(
double counts) PURE_VIRTUAL;
6754 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6785 virtual
void Home() PURE_VIRTUAL;
6790 virtual
void Home(
bool moveToZero) PURE_VIRTUAL;
6861 virtual
double HomeOffsetGet() PURE_VIRTUAL;
6884 virtual
void HomeOffsetSet(
double offset) PURE_VIRTUAL;
6907 virtual
double HomeVelocityGet() PURE_VIRTUAL;
6937 virtual
void HomeVelocitySet(
double velocity) PURE_VIRTUAL;
6941 virtual
void HomeVelocitySet(
RSIHomeStage homeStage,
double velocity) PURE_VIRTUAL;
6961 virtual
double HomeSlowVelocityGet() PURE_VIRTUAL;
6980 virtual
void HomeSlowVelocitySet(
double velocity) PURE_VIRTUAL;
7003 virtual
double HomeAccelerationGet() PURE_VIRTUAL;
7031 virtual
void HomeAccelerationSet(
double accel) PURE_VIRTUAL;
7034 virtual
void HomeAccelerationSet(
RSIHomeStage homeStage,
double accel) PURE_VIRTUAL;
7056 virtual
double HomeDecelerationGet() PURE_VIRTUAL;
7083 virtual
void HomeDecelerationSet(
double decel) PURE_VIRTUAL;
7086 virtual
void HomeDecelerationSet(
RSIHomeStage homeStage,
double decel) PURE_VIRTUAL;
7109 virtual
double HomeJerkPercentGet() PURE_VIRTUAL;
7137 virtual
void HomeJerkPercentSet(
double percent) PURE_VIRTUAL;
7141 virtual
void HomeJerkPercentSet(
RSIHomeStage homeStage,
double percent) PURE_VIRTUAL;
7164 virtual
void HomeCancelSet(
bool cancel) PURE_VIRTUAL;
7186 virtual
bool HomeStateGet() PURE_VIRTUAL;
7201 virtual
void HomeStateSet(
bool homed) PURE_VIRTUAL;
7207 virtual
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7210 virtual
void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7213 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7217 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7243 virtual
void HomeTravelDistanceSet(
RSIHomeStage stage,
double distanceToTravel) PURE_VIRTUAL;
7284 virtual
void HomeBehaviorSet(
RSIAction behavior) PURE_VIRTUAL;
7312 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7347 virtual
bool NegativeLimitGet() PURE_VIRTUAL;
7374 virtual
bool PositiveLimitGet() PURE_VIRTUAL;
7406 virtual
bool HomeLimitGet() PURE_VIRTUAL;
7437 virtual
bool HomeSwitchGet() PURE_VIRTUAL;
7461 virtual
bool AmpFaultGet() PURE_VIRTUAL;
7488 virtual
bool AmpEnableGet() PURE_VIRTUAL;
7787 virtual
double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7811 virtual
double EStopDecelerationGet() PURE_VIRTUAL;
7830 virtual
void EStopDecelerationSet(
double decel) PURE_VIRTUAL;
7845 virtual
double EStopJerkPercentGet() PURE_VIRTUAL;
7867 virtual
void EStopJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7881 virtual
double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7903 virtual
void TriggeredModifyDecelerationSet(
double decel) PURE_VIRTUAL;
7918 virtual
double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7940 virtual
void TriggeredModifyJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7960 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7978 virtual
void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
8001 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
8025 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
8034 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
8037 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
8040 virtual
double DefaultVelocityGet() PURE_VIRTUAL;
8043 virtual
void DefaultVelocitySet(
double velocity) PURE_VIRTUAL;
8046 virtual
double DefaultAccelerationGet() PURE_VIRTUAL;
8049 virtual
void DefaultAccelerationSet(
double acceleration) PURE_VIRTUAL;
8052 virtual
double DefaultDecelerationGet() PURE_VIRTUAL;
8055 virtual
void DefaultDecelerationSet(
double deceleration) PURE_VIRTUAL;
8058 virtual
double DefaultJerkPercentGet() PURE_VIRTUAL;
8061 virtual
void DefaultJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
8064 virtual
double DefaultPosition1Get() PURE_VIRTUAL;
8067 virtual
void DefaultPosition1Set(
double position1) PURE_VIRTUAL;
8070 virtual
double DefaultPosition2Get() PURE_VIRTUAL;
8073 virtual
void DefaultPosition2Set(
double position2) PURE_VIRTUAL;
8076 virtual
double DefaultRelativeIncrementGet() PURE_VIRTUAL;
8079 virtual
void DefaultRelativeIncrementSet(
double relativeIncrement) PURE_VIRTUAL;
8137 virtual
void AmpFaultActionSet(
RSIAction action) PURE_VIRTUAL;
8162 virtual
bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
8187 virtual
void AmpFaultTriggerStateSet(
bool state) PURE_VIRTUAL;
8211 virtual
double AmpFaultDurationGet() PURE_VIRTUAL;
8235 virtual
void AmpFaultDurationSet(
double seconds) PURE_VIRTUAL;
8319 virtual
bool HomeTriggerStateGet() PURE_VIRTUAL;
8343 virtual
void HomeTriggerStateSet(
bool state) PURE_VIRTUAL;
8368 virtual
double HomeDurationGet() PURE_VIRTUAL;
8394 virtual
void HomeDurationSet(
double seconds) PURE_VIRTUAL;
8456 virtual
void ErrorLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8482 virtual
double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8507 virtual
void ErrorLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8532 virtual
double ErrorLimitDurationGet() PURE_VIRTUAL;
8558 virtual
void ErrorLimitDurationSet(
double seconds) PURE_VIRTUAL;
8614 virtual
void HardwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8641 virtual
bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8668 virtual
void HardwareNegLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8694 virtual
double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8721 virtual
void HardwareNegLimitDurationSet(
double seconds) PURE_VIRTUAL;
8777 virtual
void HardwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8799 virtual
bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8826 virtual
void HardwarePosLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8852 virtual
double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8878 virtual
void HardwarePosLimitDurationSet(
double seconds) PURE_VIRTUAL;
8934 virtual
void SoftwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8960 virtual
double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8986 virtual
void SoftwareNegLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
9040 virtual
void SoftwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
9066 virtual
double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
9092 virtual
void SoftwarePosLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
9149 virtual
void EncoderFaultActionSet(
RSIAction action) PURE_VIRTUAL;
9226 virtual
double EncoderFaultDurationGet() PURE_VIRTUAL;
9251 virtual
void EncoderFaultDurationSet(
double seconds) PURE_VIRTUAL;
9257 virtual
void NodeFailureActionSet(
RSIAction action) PURE_VIRTUAL;
9306 virtual
void LimitTriggerStateSet(
RSIEventType limit,
bool triggerState) PURE_VIRTUAL;
9312 virtual
void LimitTriggerValueSet(
RSIEventType limit,
double triggerValue) PURE_VIRTUAL;
9318 virtual
void LimitDurationSet(
RSIEventType limit,
double seconds) PURE_VIRTUAL;
9342 virtual
double PositionToleranceFineGet() PURE_VIRTUAL;
9360 virtual
void PositionToleranceFineSet(
double tolerance) PURE_VIRTUAL;
9378 virtual
double PositionToleranceCoarseGet() PURE_VIRTUAL;
9399 virtual
void PositionToleranceCoarseSet(
double tolerance) PURE_VIRTUAL;
9417 virtual
double VelocityToleranceGet() PURE_VIRTUAL;
9435 virtual
void VelocityToleranceSet(
double tolerance) PURE_VIRTUAL;
9454 virtual
double SettlingTimeGet() PURE_VIRTUAL;
9473 virtual
void SettlingTimeSet(
double time) PURE_VIRTUAL;
9494 virtual
bool SettleOnStopGet() PURE_VIRTUAL;
9516 virtual
void SettleOnStopSet(
bool state) PURE_VIRTUAL;
9537 virtual
bool SettleOnEStopGet() PURE_VIRTUAL;
9557 virtual
void SettleOnEStopSet(
bool state) PURE_VIRTUAL;
9578 virtual
bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9598 virtual
void SettleOnEStopCmdEqActSet(
bool state) PURE_VIRTUAL;
9749 virtual
double BrakeApplyDelayGet() PURE_VIRTUAL;
9771 virtual
void BrakeApplyDelaySet(
double seconds) PURE_VIRTUAL;
9791 virtual
double BrakeReleaseDelayGet() PURE_VIRTUAL;
9813 virtual
void BrakeReleaseDelaySet(
double seconds) PURE_VIRTUAL;
9816 virtual
void ClosedLoopStepperSet(
bool enable) PURE_VIRTUAL;
9819 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9889 virtual
void EncoderRatioSet(
RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9892 virtual const
char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9895 virtual
void EncoderRatioPrimarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9898 virtual const
char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9901 virtual
void EncoderRatioSecondarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9904 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9908 virtual
void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9974 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
10004 virtual
void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
10034 virtual
void GearingEnable(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10039 virtual
void GearingEnable(
Axis* masterAxis,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10061 virtual
void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10081 virtual
void GearingDisable() PURE_VIRTUAL;
10084 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
10087 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
10090 virtual
bool GearingEnableGet() PURE_VIRTUAL;
10111 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
10153 virtual
double MotionCamMasterStartGet(
Axis* master) PURE_VIRTUAL;
10171 virtual
void MotionCamMasterStartSet(
Axis* master,
double startPosition) PURE_VIRTUAL;
10191 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
10212 virtual
void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
10233 virtual
void MotionCamRepeatStop() PURE_VIRTUAL;
10259 virtual
void MoveCamLinear(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
10292 virtual
void MoveCamCubic(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, const
double* const gearRatios, int32_t pointCount) PURE_VIRTUAL;
10314 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
10337 virtual
double BacklashWidthGet() PURE_VIRTUAL;
10354 virtual
void BacklashWidthSet(
double width) PURE_VIRTUAL;
10371 virtual
double BacklashRateGet() PURE_VIRTUAL;
10388 virtual
void BacklashRateSet(
double rate) PURE_VIRTUAL;
10404 virtual
double BacklashValueGet() PURE_VIRTUAL;
10579 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10612 virtual
void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10633 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10636 virtual
double FilterOutputGet(
void) PURE_VIRTUAL;
10653 virtual
double FilterLowPassGet() PURE_VIRTUAL;
10673 virtual
void FilterLowPassSet(
double frequency) PURE_VIRTUAL;
10700 virtual
bool FilterGainSchedulingGet() PURE_VIRTUAL;
10704 virtual
void FilterGainSchedulingSet(
bool enable) PURE_VIRTUAL;
10707 virtual
bool IsTuneable() PURE_VIRTUAL;
10728 virtual
void PostFilterLowPassSet(int32_t sectionNumber,
double frequency) PURE_VIRTUAL;
10748 virtual
void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10771 virtual
void PostFilterSingleOrderSet(int32_t sectionNumber,
double aOne,
double bZero,
double bOne) PURE_VIRTUAL;
10788 virtual
void PostFilterHighPassSet(int32_t sectionNumber,
double cornerFreq) PURE_VIRTUAL;
10810 virtual
void PostFilterNotchSet(int32_t sectionNumber,
double centerFreq,
double bandwidth) PURE_VIRTUAL;
10833 virtual
void PostFilterResonatorSet(int32_t sectionNumber,
double centerFreq,
double bandwidth,
double gain) PURE_VIRTUAL;
10856 virtual
void PostFilterLeadLagSet(int32_t sectionNumber,
double lowGain,
double highGain,
double centerFreq) PURE_VIRTUAL;
10876 virtual
void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10901 virtual
void PostFilterBiquadSet(int32_t sectionNumber,
double aOne,
double aTwo,
double bZero,
double bOne,
double bTwo) PURE_VIRTUAL;
10904 virtual const
char* const PostFilterInfoGet() PURE_VIRTUAL;
10933 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
10956 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
10965 virtual
void PostTrajectoryGearingEnableSet(
bool enable) PURE_VIRTUAL;
10968 virtual
bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10971 virtual
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10974 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10977 virtual
void PostTrajectoryGearingMultiplierSet(
double multiplier) PURE_VIRTUAL;
10980 virtual
double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
11026 virtual
double BacklashHysteresisLimitGet() PURE_VIRTUAL;
11027 virtual
void BacklashHysteresisLimitSet(
double hysteresisLimit) PURE_VIRTUAL;
11055 virtual
bool StepperMotorLoopbackGet() PURE_VIRTUAL;
11083 virtual
void StepperMotorLoopbackSet(
bool loopback) PURE_VIRTUAL;
11086 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
11164 virtual
Axis* AxisGet(int32_t index) PURE_VIRTUAL;
11186 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
11209 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
11232 virtual
double VectorVelocityGet() PURE_VIRTUAL;
11252 virtual
void VectorVelocitySet(
double velocity) PURE_VIRTUAL;
11271 virtual
double VectorAccelerationGet() PURE_VIRTUAL;
11298 virtual
void VectorAccelerationSet(
double acceleration) PURE_VIRTUAL;
11317 virtual
double VectorDecelerationGet() PURE_VIRTUAL;
11344 virtual
void VectorDecelerationSet(
double deceleration) PURE_VIRTUAL;
11363 virtual
double VectorJerkPercentGet() PURE_VIRTUAL;
11390 virtual
void VectorJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
11418 virtual
void MoveVector(const
double* const position) PURE_VIRTUAL;
11422 virtual
void MoveVectorRelative(const
double* const relativePosition) PURE_VIRTUAL;
11451 virtual
double PathTimeSliceGet() PURE_VIRTUAL;
11477 virtual
void PathTimeSliceSet(
double seconds) PURE_VIRTUAL;
11506 virtual
void PathRatioSet(const
double* const ratio) PURE_VIRTUAL;
11510 virtual
double PathRatioGet(int32_t index) PURE_VIRTUAL;
11531 virtual
void PathBlendSet(
bool blend) PURE_VIRTUAL;
11582 virtual
void PathListStart(const
double* const startPosition) PURE_VIRTUAL;
11607 virtual
void PathLineAdd(const
double* const position) PURE_VIRTUAL;
11631 virtual
void PathArcAdd(const
double* const center,
double angle) PURE_VIRTUAL;
11654 virtual
void PathListEnd() PURE_VIRTUAL;
11675 virtual
void PathMotionStart() PURE_VIRTUAL;
11700 virtual
void MoveTrapezoidal(const
double* const position, const
double* const vel, const
double* const accel, const
double* const decel) PURE_VIRTUAL;
11704 virtual
void MoveTrapezoidal(const
double* const position) PURE_VIRTUAL;
11734 virtual
void MoveSCurve(const
double* const position, const
double* const vel, const
double* const accel, const
double* const decel, const
double* const jerkPct) PURE_VIRTUAL;
11738 virtual
void MoveSCurve(const
double* const position) PURE_VIRTUAL;
11757 virtual
void MoveVelocity(const
double* const velocity, const
double* const accel) PURE_VIRTUAL;
11762 virtual
void MoveVelocity(const
double* const velocity) PURE_VIRTUAL;
11784 virtual
void MoveRelative(const
double* const relativePosition, const
double* const vel, const
double* const accel, const
double* const decel, const
double* const jerkPct) PURE_VIRTUAL;
11788 virtual
void MoveRelative(const
double* const relativePosition) PURE_VIRTUAL;
11808 virtual
void MoveVelocitySCurve(const
double* const velocity, const
double* const accel, const
double* const jerkPct) PURE_VIRTUAL;
11829 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11851 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11854 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11898 virtual
bool AmpEnableGet() PURE_VIRTUAL;
12144 virtual int32_t MaskGet() PURE_VIRTUAL;
12149 virtual
bool IsDigital() PURE_VIRTUAL;
12155 virtual
bool IsOutput() PURE_VIRTUAL;
12165 virtual
bool Get() PURE_VIRTUAL;
12174 virtual
void Set(
bool state) PURE_VIRTUAL;
12184 virtual
double ValueGet() PURE_VIRTUAL;
12190 virtual
void ValueSet(
double valueDouble) PURE_VIRTUAL;
12201 #if defined(_WIN32)
12215 static INtimeStatus INtimeStatusGet(
const char*
const nodeName);
12225 static INtimeStatus INtimeStart(
const char*
const nodeName);
12235 static INtimeStatus INtimeStop(
const char*
const nodeName);
12245 static INtimeStatus INtimeRestart(
const char*
const nodeName);
12249 static const char*
const INtimeCatalogRMPGet();
12253 static const char*
const INtimeCatalogRMPNetworkGet();
12257 static uint32_t INtimeNodeCountGet();
12262 static const char*
const INtimeNodeNameGet(uint32_t nodeNumber);
12267 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
12436 #if defined(__cplusplus)