16 # define RSI_API __declspec(dllexport)
18 # define RSI_API __declspec(dllimport)
23 #define PURE_VIRTUAL = 0
26 #if defined(__cplusplus)
39 class MotionController;
50 class RSI_API StaticInstanceMediator
55 bool IsValid() {
return isValid; }
56 void OnDelete() { isValid =
false; }
57 void OnCreate() { isValid =
true; }
114 number = RSIErrorMessage::RSIMessageOK;
120 strncpy_s(text,
sizeof(text), copyFrom.text,
sizeof(copyFrom.text));
133 virtual const char*
what() const noexcept {
return text; }
170 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
172 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
174 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
176 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
178 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
180 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
182 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
187 virtual int32_t NumberGet() PURE_VIRTUAL;
225 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
242 virtual const
RsiError* const ErrorLogGet() PURE_VIRTUAL;
259 virtual
void ErrorLogClear() PURE_VIRTUAL;
281 virtual
void ThrowExceptions(
bool state) PURE_VIRTUAL;
316 virtual
void Trace(
bool state) PURE_VIRTUAL;
335 virtual
void TraceMaskOnSet(
RSITrace maskOn) PURE_VIRTUAL;
361 virtual
bool TraceMaskOnGet(
RSITrace maskOn) PURE_VIRTUAL;
380 virtual
void TraceMaskOffSet(
RSITrace maskOff) PURE_VIRTUAL;
397 virtual
void TraceMaskClear() PURE_VIRTUAL;
416 virtual
void TraceFileSet(const
char* const fileName) PURE_VIRTUAL;
432 virtual
void TraceFileClose() PURE_VIRTUAL;
450 virtual
void TraceInjectMessage(
RSITrace traceLevel, const
char* const message) PURE_VIRTUAL;
491 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
512 virtual int32_t
KeyGet(int32_t milliseconds) PURE_VIRTUAL;
535 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
550 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
564 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
652 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
677 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
680 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
683 virtual
void InterruptWake() PURE_VIRTUAL;
686 virtual
void InterruptMaskClear() PURE_VIRTUAL;
689 virtual
void InterruptMaskAllSet() PURE_VIRTUAL;
715 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
731 virtual
double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
746 StaticInstanceMediator* _mediator;
757 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
760 static inline constexpr uint32_t SequencerGlobalCountMaximum = 191;
882 virtual IO*
IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1006 virtual
void Refresh() PURE_VIRTUAL;
1014 virtual
void Shutdown() PURE_VIRTUAL;
1048 virtual uint32_t SerialNumberGet(
void) PURE_VIRTUAL;
1074 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1098 virtual
void SampleWait(uint32_t samples) PURE_VIRTUAL;
1105 virtual const
char* const ServerNameGet() PURE_VIRTUAL;
1108 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1109 virtual int32_t NumberGet() PURE_VIRTUAL;
1155 virtual
double ProcessorUsageGet() PURE_VIRTUAL;
1169 virtual
void ProcessorUsageClear() PURE_VIRTUAL;
1175 virtual
void SampleRateSet(
double sampleRate) PURE_VIRTUAL;
1179 virtual
double SampleRateGet() PURE_VIRTUAL;
1200 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1223 virtual
void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1227 virtual
void AxisCountSet(int32_t axisCount,
bool setMotorFilterSupervisor) PURE_VIRTUAL;
1231 virtual
bool IsLicensed() PURE_VIRTUAL;
1234 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1237 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1240 virtual
bool MechaWareLicenseGet() PURE_VIRTUAL;
1242 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1270 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1291 virtual
void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1320 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1349 virtual
void UserVersionSet(int32_t version) PURE_VIRTUAL;
1353 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1374 virtual
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1392 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1422 virtual const
char* const FirmwareVersionGet() PURE_VIRTUAL;
1444 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1447 virtual
bool HasMechaWare() PURE_VIRTUAL;
1475 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1498 virtual
double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1528 virtual
void MemoryBlockGet(uint64_t address,
void* dataStart, int32_t size) PURE_VIRTUAL;
1547 virtual
void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1570 virtual
void MemoryDoubleSet(uint64_t address,
double dataDouble) PURE_VIRTUAL;
1600 virtual
void MemoryBlockSet(uint64_t address, const
void* const dataStart, int32_t size) PURE_VIRTUAL;
1623 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1653 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1682 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1698 virtual uint64_t AddressFromStringGet(const
char* const addressName) PURE_VIRTUAL;
1712 virtual const
char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1789 virtual
bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1811 virtual
void MotionHoldGateSet(int32_t gateNumber,
bool hold) PURE_VIRTUAL;
1827 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
1830 virtual
void NetworkStart() PURE_VIRTUAL;
1851 virtual
void NetworkShutdown() PURE_VIRTUAL;
1858 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
1861 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
1864 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
1869 virtual const
char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
1873 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
1877 virtual const
char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
1882 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
1889 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
1894 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
1898 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
1904 virtual const
char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
1907 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
1910 virtual const
char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
1928 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
1947 virtual
void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
1969 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
1986 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2000 virtual
void NetworkOutputOverrideSet(int32_t index,
bool outputOverride) PURE_VIRTUAL;
2013 virtual
bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2035 virtual
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2050 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2067 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2072 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2081 virtual const
char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2084 virtual
void NetworkTimingEnableSet(
bool enable) PURE_VIRTUAL;
2087 virtual
void NetworkTimingClear() PURE_VIRTUAL;
2090 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2093 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2096 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2099 virtual
void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2102 virtual
void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2105 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2108 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2111 virtual
bool NetworkSynchronizedGet() PURE_VIRTUAL;
2140 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
2166 virtual
void InterruptWake() PURE_VIRTUAL;
2198 virtual
void SyncInterruptEnableSet(
bool enable) PURE_VIRTUAL;
2228 virtual
void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2252 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2255 virtual
bool ServiceThreadStateGet() PURE_VIRTUAL;
2270 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2275 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2292 virtual
void SyncInterruptHostProcessFlagSet(
bool hostProcessFlag) PURE_VIRTUAL;
2307 virtual
bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2321 virtual
void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2352 virtual
void ServiceThreadEnableSet(
bool enable) PURE_VIRTUAL;
2382 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2404 virtual
void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2424 virtual
void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2427 virtual
void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2447 virtual
void RecorderCircularBufferSet(
bool enable) PURE_VIRTUAL;
2450 virtual
void RecorderCircularBufferSet(int32_t recorderNumber,
bool enable) PURE_VIRTUAL;
2469 virtual
void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2472 virtual
void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2492 virtual
void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2495 virtual
void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2503 virtual
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2525 virtual
void RecorderConfigureToTriggerOnMotion(
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2528 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2532 virtual
void RecorderConfigureToTriggerOnMotion(
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2535 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2554 virtual
bool RecorderEnabledGet() PURE_VIRTUAL;
2557 virtual
bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2577 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2580 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2597 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2600 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2618 virtual
void RecorderStart() PURE_VIRTUAL;
2621 virtual
void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2641 virtual
void RecorderStop() PURE_VIRTUAL;
2644 virtual
void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2665 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2668 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2686 virtual
void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2709 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2712 virtual
void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2732 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2735 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2757 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2760 virtual
double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2763 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2785 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2806 virtual
void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
2809 virtual
void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
2827 virtual
void RecorderReset() PURE_VIRTUAL;
2830 virtual
void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
2845 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
2866 virtual
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
2903 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
2926 virtual
void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
2940 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
2964 virtual
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
2981 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3007 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;
3041 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;
3064 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;
3088 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;
3103 virtual
void CompensatorTableSet(int32_t compensatorNumber, const
double* const table) PURE_VIRTUAL;
3118 virtual
void CompensatorTableGet(int32_t compensatorNumber,
double* table) PURE_VIRTUAL;
3140 virtual
double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3161 virtual
void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3174 virtual
void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3178 virtual
void CompensatorDisable(int32_t compensatorNumber,
bool force) PURE_VIRTUAL;
3188 virtual
void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3220 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3243 virtual
void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3276 virtual
RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3279 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3282 virtual
double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3285 virtual
bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3313 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3338 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfDouble,
double limitValueDouble) PURE_VIRTUAL;
3341 virtual
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3344 virtual
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3347 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3350 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3353 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3356 virtual
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3386 virtual
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3390 virtual
void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3394 virtual
void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3398 virtual
void UserLimitOutputSet(int32_t number,
double limitValueDouble, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3417 virtual
void UserLimitOutputSet(int32_t number,
RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3422 virtual
bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3425 virtual
RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3428 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3431 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3434 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3437 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3440 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3443 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3446 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3450 virtual
double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3474 virtual
bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3498 virtual
bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3501 virtual
void UserLimitEnableSet(int32_t number,
bool enable) PURE_VIRTUAL;
3519 virtual
void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3534 virtual
void UserLimitReset(int32_t number) PURE_VIRTUAL;
3547 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3568 virtual
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3571 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3607 virtual
void MemoryToFile(const
char* const fileName) PURE_VIRTUAL;
3632 virtual
bool IsEtherCAT() PURE_VIRTUAL;
3635 virtual
bool IsSynqNet() PURE_VIRTUAL;
3645 virtual
bool HasIO() PURE_VIRTUAL;
3648 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3651 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3654 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool state) PURE_VIRTUAL;
3657 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3660 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3663 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3672 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3675 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3678 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3681 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3685 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3688 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3691 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3694 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3697 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3700 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3717 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3734 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3751 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3768 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3785 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3802 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3819 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3836 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
3850 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3858 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3874 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3882 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3900 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
3910 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3925 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue) PURE_VIRTUAL;
3934 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3941 virtual
char* AKDASCIICommand(const
char* const command) PURE_VIRTUAL;
3944 virtual
void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
3947 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
3962 virtual const
char* const NameGet() PURE_VIRTUAL;
3977 virtual const
char* const ProductNameGet() PURE_VIRTUAL;
3992 virtual const
char* const VendorNameGet() PURE_VIRTUAL;
3995 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
3998 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4001 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4004 virtual const
char* const SerialNumberGet() PURE_VIRTUAL;
4007 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4010 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4096 virtual int32_t NumberGet() PURE_VIRTUAL;
4137 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
4173 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
4207 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool outValue) PURE_VIRTUAL;
4233 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
4268 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
4303 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
4307 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
4308 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
4383 virtual
void TriggeredModify() PURE_VIRTUAL;
4412 virtual
void Stop() PURE_VIRTUAL;
4439 virtual
void Resume() PURE_VIRTUAL;
4465 virtual
void EStop() PURE_VIRTUAL;
4488 virtual
void EStopAbort() PURE_VIRTUAL;
4508 virtual
void EStopModify() PURE_VIRTUAL;
4512 virtual
void EStopModifyAbort() PURE_VIRTUAL;
4536 virtual
void Abort() PURE_VIRTUAL;
4566 virtual
void ClearFaults() PURE_VIRTUAL;
4591 virtual
void AmpEnableSet(
bool enable) PURE_VIRTUAL;
4620 virtual int32_t AmpEnableSet(
bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4645 virtual
void Map() PURE_VIRTUAL;
4667 virtual
void Unmap() PURE_VIRTUAL;
4674 virtual
bool IsMapped() PURE_VIRTUAL;
4694 virtual
void FeedRateSet(
double rate) PURE_VIRTUAL;
4716 virtual
double FeedRateGet() PURE_VIRTUAL;
4817 virtual const
char* const SourceNameGet(
RSISource source) PURE_VIRTUAL;
4843 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4873 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4897 virtual
bool MotionDoneGet() PURE_VIRTUAL;
4961 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
4979 virtual
void InterruptWake() PURE_VIRTUAL;
5004 virtual
double StopTimeGet() PURE_VIRTUAL;
5023 virtual
void StopTimeSet(
double seconds) PURE_VIRTUAL;
5042 virtual
double EStopTimeGet() PURE_VIRTUAL;
5061 virtual
void EStopTimeSet(
double seconds) PURE_VIRTUAL;
5081 virtual
double MotionDelayGet() PURE_VIRTUAL;
5105 virtual
void MotionDelaySet(
double seconds) PURE_VIRTUAL;
5129 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5150 virtual
void MotionIdSet(uint16_t
id) PURE_VIRTUAL;
5153 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5156 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5173 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
5183 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
5257 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5280 virtual
void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5300 virtual
double MotionHoldTimeoutGet() PURE_VIRTUAL;
5322 virtual
void MotionHoldTimeoutSet(
double seconds) PURE_VIRTUAL;
5349 virtual
bool MotionHoldGateGet() PURE_VIRTUAL;
5375 virtual
void MotionHoldGateSet(
bool hold) PURE_VIRTUAL;
5395 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5415 virtual
void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5436 virtual
double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5456 virtual
void MotionHoldAxisPositionSet(
double position) PURE_VIRTUAL;
5482 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5502 virtual
void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5521 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5540 virtual
void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5559 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5578 virtual
void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5581 virtual
void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5693 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;
5728 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;
5753 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;
5759 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5784 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5790 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on) PURE_VIRTUAL;
5812 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5830 virtual
void StreamingOutputsClear() PURE_VIRTUAL;
5852 virtual
void StreamingOutputsEnableSet(
bool enable) PURE_VIRTUAL;
5922 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel) PURE_VIRTUAL;
5946 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel,
double finalVel) PURE_VIRTUAL;
6013 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6030 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6152 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6162 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6248 virtual
void ActualPositionSet(
double position) PURE_VIRTUAL;
6269 virtual
double CompensationPositionGet() PURE_VIRTUAL;
6286 virtual
void CompensationPositionSet(
double position) PURE_VIRTUAL;
6302 virtual
double TargetPositionGet() PURE_VIRTUAL;
6330 virtual
double CommandPositionGet() PURE_VIRTUAL;
6368 virtual
void CommandPositionSet(
double position) PURE_VIRTUAL;
6396 virtual
void CommandPositionDirectSet(
double position) PURE_VIRTUAL;
6419 virtual
double OriginPositionGet() PURE_VIRTUAL;
6446 virtual
void OriginPositionSet(
double position) PURE_VIRTUAL;
6471 virtual
double PositionErrorGet() PURE_VIRTUAL;
6497 virtual
double CommandVelocityGet() PURE_VIRTUAL;
6524 virtual
double ActualVelocityGet() PURE_VIRTUAL;
6549 virtual
double CommandAccelGet() PURE_VIRTUAL;
6552 virtual
double CommandJerkGet() PURE_VIRTUAL;
6603 virtual
double UserUnitsGet() PURE_VIRTUAL;
6630 virtual
void UserUnitsSet(
double countsPerUserUnit) PURE_VIRTUAL;
6633 virtual
double UserUnitsToCounts(
double userUnits) PURE_VIRTUAL;
6636 virtual
double CountsToUserUnits(
double counts) PURE_VIRTUAL;
6659 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6690 virtual
void Home() PURE_VIRTUAL;
6695 virtual
void Home(
bool moveToZero) PURE_VIRTUAL;
6766 virtual
double HomeOffsetGet() PURE_VIRTUAL;
6789 virtual
void HomeOffsetSet(
double offset) PURE_VIRTUAL;
6812 virtual
double HomeVelocityGet() PURE_VIRTUAL;
6842 virtual
void HomeVelocitySet(
double velocity) PURE_VIRTUAL;
6846 virtual
void HomeVelocitySet(
RSIHomeStage homeStage,
double velocity) PURE_VIRTUAL;
6866 virtual
double HomeSlowVelocityGet() PURE_VIRTUAL;
6885 virtual
void HomeSlowVelocitySet(
double velocity) PURE_VIRTUAL;
6908 virtual
double HomeAccelerationGet() PURE_VIRTUAL;
6936 virtual
void HomeAccelerationSet(
double accel) PURE_VIRTUAL;
6939 virtual
void HomeAccelerationSet(
RSIHomeStage homeStage,
double accel) PURE_VIRTUAL;
6961 virtual
double HomeDecelerationGet() PURE_VIRTUAL;
6988 virtual
void HomeDecelerationSet(
double decel) PURE_VIRTUAL;
6991 virtual
void HomeDecelerationSet(
RSIHomeStage homeStage,
double decel) PURE_VIRTUAL;
7014 virtual
double HomeJerkPercentGet() PURE_VIRTUAL;
7042 virtual
void HomeJerkPercentSet(
double percent) PURE_VIRTUAL;
7046 virtual
void HomeJerkPercentSet(
RSIHomeStage homeStage,
double percent) PURE_VIRTUAL;
7069 virtual
void HomeCancelSet(
bool cancel) PURE_VIRTUAL;
7091 virtual
bool HomeStateGet() PURE_VIRTUAL;
7106 virtual
void HomeStateSet(
bool homed) PURE_VIRTUAL;
7112 virtual
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7115 virtual
void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7117 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7121 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7147 virtual
void HomeTravelDistanceSet(
RSIHomeStage stage,
double distanceToTravel) PURE_VIRTUAL;
7188 virtual
void HomeBehaviorSet(
RSIAction behavior) PURE_VIRTUAL;
7216 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7251 virtual
bool NegativeLimitGet() PURE_VIRTUAL;
7278 virtual
bool PositiveLimitGet() PURE_VIRTUAL;
7310 virtual
bool HomeLimitGet() PURE_VIRTUAL;
7341 virtual
bool HomeSwitchGet() PURE_VIRTUAL;
7365 virtual
bool AmpFaultGet() PURE_VIRTUAL;
7392 virtual
bool AmpEnableGet() PURE_VIRTUAL;
7691 virtual
double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7715 virtual
double EStopDecelerationGet() PURE_VIRTUAL;
7734 virtual
void EStopDecelerationSet(
double decel) PURE_VIRTUAL;
7749 virtual
double EStopJerkPercentGet() PURE_VIRTUAL;
7771 virtual
void EStopJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7785 virtual
double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7807 virtual
void TriggeredModifyDecelerationSet(
double decel) PURE_VIRTUAL;
7822 virtual
double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7844 virtual
void TriggeredModifyJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7864 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7882 virtual
void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7905 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7929 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7936 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
7938 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
7941 virtual
double DefaultVelocityGet() PURE_VIRTUAL;
7944 virtual
void DefaultVelocitySet(
double velocity) PURE_VIRTUAL;
7947 virtual
double DefaultAccelerationGet() PURE_VIRTUAL;
7950 virtual
void DefaultAccelerationSet(
double acceleration) PURE_VIRTUAL;
7953 virtual
double DefaultDecelerationGet() PURE_VIRTUAL;
7956 virtual
void DefaultDecelerationSet(
double deceleration) PURE_VIRTUAL;
7959 virtual
double DefaultJerkPercentGet() PURE_VIRTUAL;
7962 virtual
void DefaultJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
7965 virtual
double DefaultPosition1Get() PURE_VIRTUAL;
7968 virtual
void DefaultPosition1Set(
double position1) PURE_VIRTUAL;
7971 virtual
double DefaultPosition2Get() PURE_VIRTUAL;
7974 virtual
void DefaultPosition2Set(
double position2) PURE_VIRTUAL;
7977 virtual
double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7980 virtual
void DefaultRelativeIncrementSet(
double relativeIncrement) PURE_VIRTUAL;
8038 virtual
void AmpFaultActionSet(
RSIAction action) PURE_VIRTUAL;
8063 virtual
bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
8088 virtual
void AmpFaultTriggerStateSet(
bool state) PURE_VIRTUAL;
8112 virtual
double AmpFaultDurationGet() PURE_VIRTUAL;
8136 virtual
void AmpFaultDurationSet(
double seconds) PURE_VIRTUAL;
8220 virtual
bool HomeTriggerStateGet() PURE_VIRTUAL;
8244 virtual
void HomeTriggerStateSet(
bool state) PURE_VIRTUAL;
8269 virtual
double HomeDurationGet() PURE_VIRTUAL;
8295 virtual
void HomeDurationSet(
double seconds) PURE_VIRTUAL;
8357 virtual
void ErrorLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8383 virtual
double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8408 virtual
void ErrorLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8433 virtual
double ErrorLimitDurationGet() PURE_VIRTUAL;
8459 virtual
void ErrorLimitDurationSet(
double seconds) PURE_VIRTUAL;
8515 virtual
void HardwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8542 virtual
bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8569 virtual
void HardwareNegLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8595 virtual
double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8622 virtual
void HardwareNegLimitDurationSet(
double seconds) PURE_VIRTUAL;
8678 virtual
void HardwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8700 virtual
bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8727 virtual
void HardwarePosLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8753 virtual
double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8779 virtual
void HardwarePosLimitDurationSet(
double seconds) PURE_VIRTUAL;
8835 virtual
void SoftwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8861 virtual
double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8887 virtual
void SoftwareNegLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8941 virtual
void SoftwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8967 virtual
double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8993 virtual
void SoftwarePosLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
9050 virtual
void EncoderFaultActionSet(
RSIAction action) PURE_VIRTUAL;
9127 virtual
double EncoderFaultDurationGet() PURE_VIRTUAL;
9152 virtual
void EncoderFaultDurationSet(
double seconds) PURE_VIRTUAL;
9158 virtual
void NodeFailureActionSet(
RSIAction action) PURE_VIRTUAL;
9207 virtual
void LimitTriggerStateSet(
RSIEventType limit,
bool triggerState) PURE_VIRTUAL;
9213 virtual
void LimitTriggerValueSet(
RSIEventType limit,
double triggerValue) PURE_VIRTUAL;
9219 virtual
void LimitDurationSet(
RSIEventType limit,
double seconds) PURE_VIRTUAL;
9243 virtual
double PositionToleranceFineGet() PURE_VIRTUAL;
9261 virtual
void PositionToleranceFineSet(
double tolerance) PURE_VIRTUAL;
9279 virtual
double PositionToleranceCoarseGet() PURE_VIRTUAL;
9300 virtual
void PositionToleranceCoarseSet(
double tolerance) PURE_VIRTUAL;
9318 virtual
double VelocityToleranceGet() PURE_VIRTUAL;
9336 virtual
void VelocityToleranceSet(
double tolerance) PURE_VIRTUAL;
9355 virtual
double SettlingTimeGet() PURE_VIRTUAL;
9374 virtual
void SettlingTimeSet(
double time) PURE_VIRTUAL;
9395 virtual
bool SettleOnStopGet() PURE_VIRTUAL;
9417 virtual
void SettleOnStopSet(
bool state) PURE_VIRTUAL;
9438 virtual
bool SettleOnEStopGet() PURE_VIRTUAL;
9458 virtual
void SettleOnEStopSet(
bool state) PURE_VIRTUAL;
9479 virtual
bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9499 virtual
void SettleOnEStopCmdEqActSet(
bool state) PURE_VIRTUAL;
9650 virtual
double BrakeApplyDelayGet() PURE_VIRTUAL;
9672 virtual
void BrakeApplyDelaySet(
double seconds) PURE_VIRTUAL;
9692 virtual
double BrakeReleaseDelayGet() PURE_VIRTUAL;
9714 virtual
void BrakeReleaseDelaySet(
double seconds) PURE_VIRTUAL;
9717 virtual
void ClosedLoopStepperSet(
bool enable) PURE_VIRTUAL;
9720 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9790 virtual
void EncoderRatioSet(
RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9793 virtual const
char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9796 virtual
void EncoderRatioPrimarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9799 virtual const
char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9802 virtual
void EncoderRatioSecondarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9805 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9809 virtual
void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9875 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9905 virtual
void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9935 virtual
void GearingEnable(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9940 virtual
void GearingEnable(
Axis* masterAxis,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9962 virtual
void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9982 virtual
void GearingDisable() PURE_VIRTUAL;
9985 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9988 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9991 virtual
bool GearingEnableGet() PURE_VIRTUAL;
10012 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
10054 virtual
double MotionCamMasterStartGet(
Axis* master) PURE_VIRTUAL;
10072 virtual
void MotionCamMasterStartSet(
Axis* master,
double startPosition) PURE_VIRTUAL;
10092 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
10113 virtual
void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
10134 virtual
void MotionCamRepeatStop() PURE_VIRTUAL;
10160 virtual
void MoveCamLinear(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
10193 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;
10215 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
10238 virtual
double BacklashWidthGet() PURE_VIRTUAL;
10255 virtual
void BacklashWidthSet(
double width) PURE_VIRTUAL;
10272 virtual
double BacklashRateGet() PURE_VIRTUAL;
10289 virtual
void BacklashRateSet(
double rate) PURE_VIRTUAL;
10305 virtual
double BacklashValueGet() PURE_VIRTUAL;
10480 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10513 virtual
void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10534 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10537 virtual
double FilterOutputGet(
void) PURE_VIRTUAL;
10554 virtual
double FilterLowPassGet() PURE_VIRTUAL;
10574 virtual
void FilterLowPassSet(
double frequency) PURE_VIRTUAL;
10601 virtual
bool FilterGainSchedulingGet() PURE_VIRTUAL;
10605 virtual
void FilterGainSchedulingSet(
bool enable) PURE_VIRTUAL;
10608 virtual
bool IsTuneable() PURE_VIRTUAL;
10629 virtual
void PostFilterLowPassSet(int32_t sectionNumber,
double frequency) PURE_VIRTUAL;
10649 virtual
void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10672 virtual
void PostFilterSingleOrderSet(int32_t sectionNumber,
double aOne,
double bZero,
double bOne) PURE_VIRTUAL;
10689 virtual
void PostFilterHighPassSet(int32_t sectionNumber,
double cornerFreq) PURE_VIRTUAL;
10711 virtual
void PostFilterNotchSet(int32_t sectionNumber,
double centerFreq,
double bandwidth) PURE_VIRTUAL;
10734 virtual
void PostFilterResonatorSet(int32_t sectionNumber,
double centerFreq,
double bandwidth,
double gain) PURE_VIRTUAL;
10757 virtual
void PostFilterLeadLagSet(int32_t sectionNumber,
double lowGain,
double highGain,
double centerFreq) PURE_VIRTUAL;
10777 virtual
void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10802 virtual
void PostFilterBiquadSet(int32_t sectionNumber,
double aOne,
double aTwo,
double bZero,
double bOne,
double bTwo) PURE_VIRTUAL;
10805 virtual const
char* const PostFilterInfoGet() PURE_VIRTUAL;
10834 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
10857 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
10866 virtual
void PostTrajectoryGearingEnableSet(
bool enable) PURE_VIRTUAL;
10869 virtual
bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10872 virtual
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10875 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10878 virtual
void PostTrajectoryGearingMultiplierSet(
double multiplier) PURE_VIRTUAL;
10881 virtual
double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10927 virtual
double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10928 virtual
void BacklashHysteresisLimitSet(
double hysteresisLimit) PURE_VIRTUAL;
10956 virtual
bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10984 virtual
void StepperMotorLoopbackSet(
bool loopback) PURE_VIRTUAL;
10987 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
11062 virtual int32_t AxisCountGet() PURE_VIRTUAL;
11082 virtual
Axis* AxisGet(int32_t index) PURE_VIRTUAL;
11104 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
11127 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
11150 virtual
double VectorVelocityGet() PURE_VIRTUAL;
11170 virtual
void VectorVelocitySet(
double velocity) PURE_VIRTUAL;
11189 virtual
double VectorAccelerationGet() PURE_VIRTUAL;
11216 virtual
void VectorAccelerationSet(
double acceleration) PURE_VIRTUAL;
11235 virtual
double VectorDecelerationGet() PURE_VIRTUAL;
11262 virtual
void VectorDecelerationSet(
double deceleration) PURE_VIRTUAL;
11281 virtual
double VectorJerkPercentGet() PURE_VIRTUAL;
11308 virtual
void VectorJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
11336 virtual
void MoveVector(const
double* const position) PURE_VIRTUAL;
11340 virtual
void MoveVectorRelative(const
double* const relativePosition) PURE_VIRTUAL;
11369 virtual
double PathTimeSliceGet() PURE_VIRTUAL;
11395 virtual
void PathTimeSliceSet(
double seconds) PURE_VIRTUAL;
11424 virtual
void PathRatioSet(const
double* const ratio) PURE_VIRTUAL;
11428 virtual
double PathRatioGet(int32_t index) PURE_VIRTUAL;
11449 virtual
void PathBlendSet(
bool blend) PURE_VIRTUAL;
11500 virtual
void PathListStart(const
double* const startPosition) PURE_VIRTUAL;
11525 virtual
void PathLineAdd(const
double* const position) PURE_VIRTUAL;
11549 virtual
void PathArcAdd(const
double* const center,
double angle) PURE_VIRTUAL;
11572 virtual
void PathListEnd() PURE_VIRTUAL;
11593 virtual
void PathMotionStart() PURE_VIRTUAL;
11618 virtual
void MoveTrapezoidal(const
double* const position, const
double* const vel, const
double* const accel, const
double* const decel) PURE_VIRTUAL;
11622 virtual
void MoveTrapezoidal(const
double* const position) PURE_VIRTUAL;
11652 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;
11656 virtual
void MoveSCurve(const
double* const position) PURE_VIRTUAL;
11675 virtual
void MoveVelocity(const
double* const velocity, const
double* const accel) PURE_VIRTUAL;
11680 virtual
void MoveVelocity(const
double* const velocity) PURE_VIRTUAL;
11702 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;
11706 virtual
void MoveRelative(const
double* const relativePosition) PURE_VIRTUAL;
11726 virtual
void MoveVelocitySCurve(const
double* const velocity, const
double* const accel, const
double* const jerkPct) PURE_VIRTUAL;
11747 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11769 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11772 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
12049 virtual int32_t MaskGet() PURE_VIRTUAL;
12054 virtual
bool IsDigital() PURE_VIRTUAL;
12060 virtual
bool IsOutput() PURE_VIRTUAL;
12070 virtual
bool Get() PURE_VIRTUAL;
12079 virtual
void Set(
bool state) PURE_VIRTUAL;
12089 virtual
double ValueGet() PURE_VIRTUAL;
12095 virtual
void ValueSet(
double valueDouble) PURE_VIRTUAL;
12180 #if defined(__cplusplus)