17 # if !defined(__INTIME__)
18 # define HAS_CARTESIAN_ROBOT 1
20 # if !defined(RSI_API)
22 # define RSI_API __declspec(dllexport)
24 # define RSI_API __declspec(dllimport)
27 #elif defined(__linux__)
28 # if !defined(RSI_API)
29 # define RSI_API __attribute__ ((visibility ("default")))
34 #define PURE_VIRTUAL = 0
38 #if defined(__cplusplus)
51 class MotionController;
55 class RapidCodeNetworkNode;
64 class StaticInstanceMediator
69 bool IsValid() {
return isValid; }
70 void OnDelete() { isValid =
false; }
71 void OnCreate() { isValid =
true; }
131 number = RSIErrorMessage::RSIMessageOK;
143 #elif defined(__linux__)
159 virtual const char*
what() const noexcept {
return text; }
198 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
200 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
202 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
204 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
206 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
208 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
210 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
215 virtual int32_t NumberGet() PURE_VIRTUAL;
253 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
270 virtual const
RsiError* const ErrorLogGet() PURE_VIRTUAL;
287 virtual
void ErrorLogClear() PURE_VIRTUAL;
309 virtual
void ThrowExceptions(
bool state) PURE_VIRTUAL;
343 virtual
void Trace(
bool state) PURE_VIRTUAL;
361 virtual
void TraceMaskOnSet(
RSITrace maskOn) PURE_VIRTUAL;
386 virtual
bool TraceMaskOnGet(
RSITrace maskOn) PURE_VIRTUAL;
405 virtual
void TraceMaskOffSet(
RSITrace maskOff) PURE_VIRTUAL;
422 virtual
void TraceMaskClear() PURE_VIRTUAL;
440 virtual
void TraceFileSet(const
char* const fileName) PURE_VIRTUAL;
456 virtual
void TraceFileClose() PURE_VIRTUAL;
474 virtual
void TraceInjectMessage(
RSITrace traceLevel, const
char* const message) PURE_VIRTUAL;
518 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
539 virtual int32_t
KeyGet(int32_t milliseconds) PURE_VIRTUAL;
562 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
577 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
591 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
679 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
704 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
707 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
710 virtual
void InterruptWake() PURE_VIRTUAL;
713 virtual
void InterruptMaskClear() PURE_VIRTUAL;
716 virtual
void InterruptMaskAllSet() PURE_VIRTUAL;
742 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
758 virtual
double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
773 StaticInstanceMediator* _mediator;
784 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
787 static inline constexpr uint32_t AxisCountMaximum = 64;
790 static inline constexpr uint32_t MotionCountMaximum = 64;
793 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
796 static inline constexpr uint32_t RecorderCountMaximum = 64;
799 static inline constexpr uint32_t CompensatorCountMaximum = 64;
802 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
805 static inline constexpr uint32_t SequencerGlobalCountMaximum = 191;
808 static inline constexpr
double SampleRateDefault = 1000.0;
830 static inline constexpr uint32_t PathLengthMaximum = 256;
837 static inline constexpr int32_t CpuAffinityDefault = -1;
843 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
849 static inline constexpr int32_t RmpThreadPriorityRange = 8;
855 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
861 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
867 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
882 std::memset(rmpPath,
'\0', PathLengthMaximum);
883 std::memset(primaryNetworkInterfaceName,
'\0', PathLengthMaximum);
884 std::memset(secondaryNetworkInterfaceName,
'\0', PathLengthMaximum);
886 std::memset(nodeName,
'\0', PathLengthMaximum);
887 #elif defined(__linux__)
888 cpuAffinity = CpuAffinityDefault;
889 rmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
903 char rmpPath[PathLengthMaximum];
909 char primaryNetworkInterfaceName[PathLengthMaximum];
915 char secondaryNetworkInterfaceName[PathLengthMaximum];
919 #if defined(_WIN32) && defined(__linux__)
920 static_assert(
false,
"_WIN32 and __linux__ defined. Double check preprocessor definitions");
921 #elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
922 static_assert(
false,
"Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
923 #endif //defined(_WIN32) && defined(__linux__)
924 #if defined(_WIN32) || defined(DOXYGEN)
935 char nodeName[PathLengthMaximum];
938 #endif //defined(_WIN32)
939 #if defined(__linux__) || defined(DOXYGEN)
970 # endif // defined(__linux__)
1055 #endif // defined(_WIN32)
1150 virtual IO*
IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1196 virtual
void Refresh() PURE_VIRTUAL;
1203 virtual
void Shutdown() PURE_VIRTUAL;
1235 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1253 virtual
double ProcessorUsageGet() PURE_VIRTUAL;
1267 virtual
void ProcessorUsageClear() PURE_VIRTUAL;
1272 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1308 virtual uint32_t SerialNumberGet(
void) PURE_VIRTUAL;
1330 virtual
void SampleWait(uint32_t samples) PURE_VIRTUAL;
1337 virtual const
char* const ServerNameGet() PURE_VIRTUAL;
1340 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1375 virtual
void SampleRateSet(
double sampleRate) PURE_VIRTUAL;
1379 virtual
double SampleRateGet() PURE_VIRTUAL;
1400 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1423 virtual
void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1427 virtual
void AxisCountSet(int32_t axisCount,
bool setMotorFilterSupervisor) PURE_VIRTUAL;
1431 virtual
bool IsLicensed() PURE_VIRTUAL;
1434 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1437 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1440 virtual
bool MechaWareLicenseGet() PURE_VIRTUAL;
1443 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1471 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1492 virtual
void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1521 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1550 virtual
void UserVersionSet(int32_t version) PURE_VIRTUAL;
1554 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1575 virtual
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1593 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1623 virtual const
char* const FirmwareVersionGet() PURE_VIRTUAL;
1645 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1648 virtual
bool HasMechaWare() PURE_VIRTUAL;
1676 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1699 virtual
double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1729 virtual
void MemoryBlockGet(uint64_t address,
void* dataStart, int32_t size) PURE_VIRTUAL;
1748 virtual
void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1771 virtual
void MemoryDoubleSet(uint64_t address,
double dataDouble) PURE_VIRTUAL;
1801 virtual
void MemoryBlockSet(uint64_t address, const
void* const dataStart, int32_t size) PURE_VIRTUAL;
1824 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1854 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1883 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1899 virtual uint64_t AddressFromStringGet(const
char* const addressName) PURE_VIRTUAL;
1913 virtual const
char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1990 virtual
bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2012 virtual
void MotionHoldGateSet(int32_t gateNumber,
bool hold) PURE_VIRTUAL;
2028 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2031 virtual
void NetworkStart() PURE_VIRTUAL;
2052 virtual
void NetworkShutdown() PURE_VIRTUAL;
2059 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2062 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2065 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2070 virtual const
char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2074 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2078 virtual const
char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2083 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2090 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2095 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2099 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2105 virtual const
char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2108 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2111 virtual const
char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2129 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2148 virtual
void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2170 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2187 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2201 virtual
void NetworkOutputOverrideSet(int32_t index,
bool outputOverride) PURE_VIRTUAL;
2214 virtual
bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2236 virtual
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2251 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2268 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2273 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2282 virtual const
char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2285 virtual
void NetworkTimingEnableSet(
bool enable) PURE_VIRTUAL;
2288 virtual
void NetworkTimingClear() PURE_VIRTUAL;
2291 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2294 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2297 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2300 virtual
void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2303 virtual
void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2306 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2309 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2312 virtual
bool NetworkSynchronizedGet() PURE_VIRTUAL;
2341 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
2367 virtual
void InterruptWake() PURE_VIRTUAL;
2399 virtual
void SyncInterruptEnableSet(
bool enable) PURE_VIRTUAL;
2429 virtual
void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2453 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2456 virtual
bool ServiceThreadStateGet() PURE_VIRTUAL;
2471 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2476 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2493 virtual
void SyncInterruptHostProcessFlagSet(
bool hostProcessFlag) PURE_VIRTUAL;
2508 virtual
bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2522 virtual
void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2553 virtual
void ServiceThreadEnableSet(
bool enable) PURE_VIRTUAL;
2583 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2605 virtual
void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2625 virtual
void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2628 virtual
void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2648 virtual
void RecorderCircularBufferSet(
bool enable) PURE_VIRTUAL;
2651 virtual
void RecorderCircularBufferSet(int32_t recorderNumber,
bool enable) PURE_VIRTUAL;
2670 virtual
void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2673 virtual
void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2693 virtual
void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2696 virtual
void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2704 virtual
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2726 virtual
void RecorderConfigureToTriggerOnMotion(
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2729 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2733 virtual
void RecorderConfigureToTriggerOnMotion(
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2736 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2755 virtual
bool RecorderEnabledGet() PURE_VIRTUAL;
2758 virtual
bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2778 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2781 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2798 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2801 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2819 virtual
void RecorderStart() PURE_VIRTUAL;
2822 virtual
void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2842 virtual
void RecorderStop() PURE_VIRTUAL;
2845 virtual
void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2866 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2869 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2887 virtual
void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2910 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2913 virtual
void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2933 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2936 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2958 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2961 virtual
double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2964 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2986 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3007 virtual
void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3010 virtual
void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3028 virtual
void RecorderReset() PURE_VIRTUAL;
3031 virtual
void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3046 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3067 virtual
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3104 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3127 virtual
void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3141 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3165 virtual
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3182 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3208 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;
3242 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;
3265 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;
3289 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;
3304 virtual
void CompensatorTableSet(int32_t compensatorNumber, const
double* const table) PURE_VIRTUAL;
3319 virtual
void CompensatorTableGet(int32_t compensatorNumber,
double* table) PURE_VIRTUAL;
3341 virtual
double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3362 virtual
void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3375 virtual
void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3379 virtual
void CompensatorDisable(int32_t compensatorNumber,
bool force) PURE_VIRTUAL;
3389 virtual
void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3421 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3444 virtual
void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3477 virtual
RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3480 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3483 virtual
double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3486 virtual
bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3514 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3539 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfDouble,
double limitValueDouble) PURE_VIRTUAL;
3542 virtual
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3545 virtual
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3548 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3551 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3554 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3557 virtual
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3587 virtual
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3591 virtual
void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3595 virtual
void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3599 virtual
void UserLimitOutputSet(int32_t number,
double limitValueDouble, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3618 virtual
void UserLimitOutputSet(int32_t number,
RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3623 virtual
bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3626 virtual
RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3629 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3632 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3635 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3638 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3641 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3644 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3647 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3651 virtual
double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3675 virtual
bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3699 virtual
bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3702 virtual
void UserLimitEnableSet(int32_t number,
bool enable) PURE_VIRTUAL;
3720 virtual
void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3735 virtual
void UserLimitReset(int32_t number) PURE_VIRTUAL;
3748 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3769 virtual
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3772 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3808 virtual
void MemoryToFile(const
char* const fileName) PURE_VIRTUAL;
3827 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3844 virtual
bool IsEtherCAT() PURE_VIRTUAL;
3847 virtual
bool IsSynqNet() PURE_VIRTUAL;
3857 virtual
bool HasIO() PURE_VIRTUAL;
3860 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3863 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3866 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool state) PURE_VIRTUAL;
3869 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3872 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3875 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3884 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3887 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3890 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3893 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3897 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3900 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3903 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3906 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3909 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3912 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3929 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3946 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3963 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3980 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3997 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4014 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4031 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4048 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4062 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4067 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4083 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4088 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4106 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4113 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4128 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue) PURE_VIRTUAL;
4137 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4144 virtual
char* AKDASCIICommand(const
char* const command) PURE_VIRTUAL;
4147 virtual
void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4150 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4165 virtual const
char* const NameGet() PURE_VIRTUAL;
4180 virtual const
char* const ProductNameGet() PURE_VIRTUAL;
4195 virtual const
char* const VendorNameGet() PURE_VIRTUAL;
4198 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4201 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4204 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4207 virtual const
char* const SerialNumberGet() PURE_VIRTUAL;
4210 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4213 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4299 virtual int32_t NumberGet() PURE_VIRTUAL;
4340 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
4376 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
4410 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool outValue) PURE_VIRTUAL;
4436 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
4471 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
4506 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
4510 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
4511 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
4574 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4606 virtual
void TriggeredModify() PURE_VIRTUAL;
4636 virtual
void Stop() PURE_VIRTUAL;
4664 virtual
void Resume() PURE_VIRTUAL;
4692 virtual
void EStop() PURE_VIRTUAL;
4716 virtual
void EStopAbort() PURE_VIRTUAL;
4736 virtual
void EStopModify() PURE_VIRTUAL;
4740 virtual
void EStopModifyAbort() PURE_VIRTUAL;
4765 virtual
void Abort() PURE_VIRTUAL;
4795 virtual
void ClearFaults() PURE_VIRTUAL;
4825 virtual
void AmpEnableSet(
bool enable) PURE_VIRTUAL;
4858 virtual int32_t AmpEnableSet(
bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4883 virtual
void Map() PURE_VIRTUAL;
4905 virtual
void Unmap() PURE_VIRTUAL;
4912 virtual
bool IsMapped() PURE_VIRTUAL;
4932 virtual
void FeedRateSet(
double rate) PURE_VIRTUAL;
4954 virtual
double FeedRateGet() PURE_VIRTUAL;
5055 virtual const
char* const SourceNameGet(
RSISource source) PURE_VIRTUAL;
5081 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
5111 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
5135 virtual
bool MotionDoneGet() PURE_VIRTUAL;
5179 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
5216 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
5234 virtual
void InterruptWake() PURE_VIRTUAL;
5259 virtual
double StopTimeGet() PURE_VIRTUAL;
5278 virtual
void StopTimeSet(
double seconds) PURE_VIRTUAL;
5297 virtual
double EStopTimeGet() PURE_VIRTUAL;
5316 virtual
void EStopTimeSet(
double seconds) PURE_VIRTUAL;
5336 virtual
double MotionDelayGet() PURE_VIRTUAL;
5360 virtual
void MotionDelaySet(
double seconds) PURE_VIRTUAL;
5384 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5405 virtual
void MotionIdSet(uint16_t
id) PURE_VIRTUAL;
5408 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5411 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5428 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
5438 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
5512 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5535 virtual
void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5555 virtual
double MotionHoldTimeoutGet() PURE_VIRTUAL;
5577 virtual
void MotionHoldTimeoutSet(
double seconds) PURE_VIRTUAL;
5604 virtual
bool MotionHoldGateGet() PURE_VIRTUAL;
5630 virtual
void MotionHoldGateSet(
bool hold) PURE_VIRTUAL;
5650 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5670 virtual
void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5691 virtual
double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5711 virtual
void MotionHoldAxisPositionSet(
double position) PURE_VIRTUAL;
5737 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5757 virtual
void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5776 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5795 virtual
void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5814 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5833 virtual
void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5836 virtual
void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5948 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;
5983 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;
6008 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;
6014 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
6039 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
6045 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on) PURE_VIRTUAL;
6067 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on, int32_t ptPointIndex) PURE_VIRTUAL;
6085 virtual
void StreamingOutputsClear() PURE_VIRTUAL;
6107 virtual
void StreamingOutputsEnableSet(
bool enable) PURE_VIRTUAL;
6131 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
6134 static inline constexpr
double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
6192 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel) PURE_VIRTUAL;
6216 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel,
double finalVel) PURE_VIRTUAL;
6283 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6300 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6422 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6432 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6518 virtual
void ActualPositionSet(
double position) PURE_VIRTUAL;
6539 virtual
double CompensationPositionGet() PURE_VIRTUAL;
6556 virtual
void CompensationPositionSet(
double position) PURE_VIRTUAL;
6572 virtual
double TargetPositionGet() PURE_VIRTUAL;
6600 virtual
double CommandPositionGet() PURE_VIRTUAL;
6638 virtual
void CommandPositionSet(
double position) PURE_VIRTUAL;
6666 virtual
void CommandPositionDirectSet(
double position) PURE_VIRTUAL;
6689 virtual
double OriginPositionGet() PURE_VIRTUAL;
6716 virtual
void OriginPositionSet(
double position) PURE_VIRTUAL;
6741 virtual
double PositionErrorGet() PURE_VIRTUAL;
6767 virtual
double CommandVelocityGet() PURE_VIRTUAL;
6794 virtual
double ActualVelocityGet() PURE_VIRTUAL;
6819 virtual
double CommandAccelGet() PURE_VIRTUAL;
6822 virtual
double CommandJerkGet() PURE_VIRTUAL;
6873 virtual
double UserUnitsGet() PURE_VIRTUAL;
6900 virtual
void UserUnitsSet(
double countsPerUserUnit) PURE_VIRTUAL;
6903 virtual
double UserUnitsToCounts(
double userUnits) PURE_VIRTUAL;
6906 virtual
double CountsToUserUnits(
double counts) PURE_VIRTUAL;
6929 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6960 virtual
void Home() PURE_VIRTUAL;
6965 virtual
void Home(
bool moveToZero) PURE_VIRTUAL;
7036 virtual
double HomeOffsetGet() PURE_VIRTUAL;
7059 virtual
void HomeOffsetSet(
double offset) PURE_VIRTUAL;
7082 virtual
double HomeVelocityGet() PURE_VIRTUAL;
7112 virtual
void HomeVelocitySet(
double velocity) PURE_VIRTUAL;
7116 virtual
void HomeVelocitySet(
RSIHomeStage homeStage,
double velocity) PURE_VIRTUAL;
7136 virtual
double HomeSlowVelocityGet() PURE_VIRTUAL;
7155 virtual
void HomeSlowVelocitySet(
double velocity) PURE_VIRTUAL;
7178 virtual
double HomeAccelerationGet() PURE_VIRTUAL;
7206 virtual
void HomeAccelerationSet(
double accel) PURE_VIRTUAL;
7209 virtual
void HomeAccelerationSet(
RSIHomeStage homeStage,
double accel) PURE_VIRTUAL;
7231 virtual
double HomeDecelerationGet() PURE_VIRTUAL;
7258 virtual
void HomeDecelerationSet(
double decel) PURE_VIRTUAL;
7261 virtual
void HomeDecelerationSet(
RSIHomeStage homeStage,
double decel) PURE_VIRTUAL;
7284 virtual
double HomeJerkPercentGet() PURE_VIRTUAL;
7312 virtual
void HomeJerkPercentSet(
double percent) PURE_VIRTUAL;
7316 virtual
void HomeJerkPercentSet(
RSIHomeStage homeStage,
double percent) PURE_VIRTUAL;
7339 virtual
void HomeCancelSet(
bool cancel) PURE_VIRTUAL;
7361 virtual
bool HomeStateGet() PURE_VIRTUAL;
7376 virtual
void HomeStateSet(
bool homed) PURE_VIRTUAL;
7382 virtual
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7385 virtual
void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7388 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7392 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7418 virtual
void HomeTravelDistanceSet(
RSIHomeStage stage,
double distanceToTravel) PURE_VIRTUAL;
7459 virtual
void HomeBehaviorSet(
RSIAction behavior) PURE_VIRTUAL;
7487 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7522 virtual
bool NegativeLimitGet() PURE_VIRTUAL;
7549 virtual
bool PositiveLimitGet() PURE_VIRTUAL;
7581 virtual
bool HomeLimitGet() PURE_VIRTUAL;
7612 virtual
bool HomeSwitchGet() PURE_VIRTUAL;
7636 virtual
bool AmpFaultGet() PURE_VIRTUAL;
7663 virtual
bool AmpEnableGet() PURE_VIRTUAL;
7962 virtual
double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7986 virtual
double EStopDecelerationGet() PURE_VIRTUAL;
8005 virtual
void EStopDecelerationSet(
double decel) PURE_VIRTUAL;
8020 virtual
double EStopJerkPercentGet() PURE_VIRTUAL;
8042 virtual
void EStopJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
8056 virtual
double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
8078 virtual
void TriggeredModifyDecelerationSet(
double decel) PURE_VIRTUAL;
8093 virtual
double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
8115 virtual
void TriggeredModifyJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
8135 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
8153 virtual
void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
8176 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
8200 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
8209 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
8212 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
8215 virtual
double DefaultVelocityGet() PURE_VIRTUAL;
8218 virtual
void DefaultVelocitySet(
double velocity) PURE_VIRTUAL;
8221 virtual
double DefaultAccelerationGet() PURE_VIRTUAL;
8224 virtual
void DefaultAccelerationSet(
double acceleration) PURE_VIRTUAL;
8227 virtual
double DefaultDecelerationGet() PURE_VIRTUAL;
8230 virtual
void DefaultDecelerationSet(
double deceleration) PURE_VIRTUAL;
8233 virtual
double DefaultJerkPercentGet() PURE_VIRTUAL;
8236 virtual
void DefaultJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
8239 virtual
double DefaultPosition1Get() PURE_VIRTUAL;
8242 virtual
void DefaultPosition1Set(
double position1) PURE_VIRTUAL;
8245 virtual
double DefaultPosition2Get() PURE_VIRTUAL;
8248 virtual
void DefaultPosition2Set(
double position2) PURE_VIRTUAL;
8251 virtual
double DefaultRelativeIncrementGet() PURE_VIRTUAL;
8254 virtual
void DefaultRelativeIncrementSet(
double relativeIncrement) PURE_VIRTUAL;
8312 virtual
void AmpFaultActionSet(
RSIAction action) PURE_VIRTUAL;
8337 virtual
bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
8362 virtual
void AmpFaultTriggerStateSet(
bool state) PURE_VIRTUAL;
8386 virtual
double AmpFaultDurationGet() PURE_VIRTUAL;
8410 virtual
void AmpFaultDurationSet(
double seconds) PURE_VIRTUAL;
8494 virtual
bool HomeTriggerStateGet() PURE_VIRTUAL;
8518 virtual
void HomeTriggerStateSet(
bool state) PURE_VIRTUAL;
8543 virtual
double HomeDurationGet() PURE_VIRTUAL;
8569 virtual
void HomeDurationSet(
double seconds) PURE_VIRTUAL;
8631 virtual
void ErrorLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8657 virtual
double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8682 virtual
void ErrorLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8707 virtual
double ErrorLimitDurationGet() PURE_VIRTUAL;
8733 virtual
void ErrorLimitDurationSet(
double seconds) PURE_VIRTUAL;
8789 virtual
void HardwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8816 virtual
bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8843 virtual
void HardwareNegLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8869 virtual
double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8896 virtual
void HardwareNegLimitDurationSet(
double seconds) PURE_VIRTUAL;
8952 virtual
void HardwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8974 virtual
bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
9001 virtual
void HardwarePosLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
9027 virtual
double HardwarePosLimitDurationGet() PURE_VIRTUAL;
9053 virtual
void HardwarePosLimitDurationSet(
double seconds) PURE_VIRTUAL;
9109 virtual
void SoftwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
9135 virtual
double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
9161 virtual
void SoftwareNegLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
9215 virtual
void SoftwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
9241 virtual
double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
9267 virtual
void SoftwarePosLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
9324 virtual
void EncoderFaultActionSet(
RSIAction action) PURE_VIRTUAL;
9401 virtual
double EncoderFaultDurationGet() PURE_VIRTUAL;
9426 virtual
void EncoderFaultDurationSet(
double seconds) PURE_VIRTUAL;
9432 virtual
void NodeFailureActionSet(
RSIAction action) PURE_VIRTUAL;
9481 virtual
void LimitTriggerStateSet(
RSIEventType limit,
bool triggerState) PURE_VIRTUAL;
9487 virtual
void LimitTriggerValueSet(
RSIEventType limit,
double triggerValue) PURE_VIRTUAL;
9493 virtual
void LimitDurationSet(
RSIEventType limit,
double seconds) PURE_VIRTUAL;
9517 virtual
double PositionToleranceFineGet() PURE_VIRTUAL;
9535 virtual
void PositionToleranceFineSet(
double tolerance) PURE_VIRTUAL;
9553 virtual
double PositionToleranceCoarseGet() PURE_VIRTUAL;
9574 virtual
void PositionToleranceCoarseSet(
double tolerance) PURE_VIRTUAL;
9592 virtual
double VelocityToleranceGet() PURE_VIRTUAL;
9610 virtual
void VelocityToleranceSet(
double tolerance) PURE_VIRTUAL;
9629 virtual
double SettlingTimeGet() PURE_VIRTUAL;
9648 virtual
void SettlingTimeSet(
double time) PURE_VIRTUAL;
9669 virtual
bool SettleOnStopGet() PURE_VIRTUAL;
9691 virtual
void SettleOnStopSet(
bool state) PURE_VIRTUAL;
9712 virtual
bool SettleOnEStopGet() PURE_VIRTUAL;
9732 virtual
void SettleOnEStopSet(
bool state) PURE_VIRTUAL;
9753 virtual
bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9773 virtual
void SettleOnEStopCmdEqActSet(
bool state) PURE_VIRTUAL;
9924 virtual
double BrakeApplyDelayGet() PURE_VIRTUAL;
9946 virtual
void BrakeApplyDelaySet(
double seconds) PURE_VIRTUAL;
9966 virtual
double BrakeReleaseDelayGet() PURE_VIRTUAL;
9988 virtual
void BrakeReleaseDelaySet(
double seconds) PURE_VIRTUAL;
9991 virtual
void ClosedLoopStepperSet(
bool enable) PURE_VIRTUAL;
9994 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
10064 virtual
void EncoderRatioSet(
RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10067 virtual const
char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
10070 virtual
void EncoderRatioPrimarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
10073 virtual const
char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
10076 virtual
void EncoderRatioSecondarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
10079 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
10083 virtual
void EncoderCountSet(int32_t count) PURE_VIRTUAL;
10149 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
10179 virtual
void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
10209 virtual
void GearingEnable(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10214 virtual
void GearingEnable(
Axis* masterAxis,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10236 virtual
void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
10256 virtual
void GearingDisable() PURE_VIRTUAL;
10259 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
10262 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
10265 virtual
bool GearingEnableGet() PURE_VIRTUAL;
10286 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
10328 virtual
double MotionCamMasterStartGet(
Axis* master) PURE_VIRTUAL;
10346 virtual
void MotionCamMasterStartSet(
Axis* master,
double startPosition) PURE_VIRTUAL;
10366 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
10387 virtual
void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
10408 virtual
void MotionCamRepeatStop() PURE_VIRTUAL;
10434 virtual
void MoveCamLinear(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
10467 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;
10489 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
10512 virtual
double BacklashWidthGet() PURE_VIRTUAL;
10529 virtual
void BacklashWidthSet(
double width) PURE_VIRTUAL;
10546 virtual
double BacklashRateGet() PURE_VIRTUAL;
10563 virtual
void BacklashRateSet(
double rate) PURE_VIRTUAL;
10579 virtual
double BacklashValueGet() PURE_VIRTUAL;
10754 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10787 virtual
void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10808 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10811 virtual
double FilterOutputGet(
void) PURE_VIRTUAL;
10828 virtual
double FilterLowPassGet() PURE_VIRTUAL;
10848 virtual
void FilterLowPassSet(
double frequency) PURE_VIRTUAL;
10875 virtual
bool FilterGainSchedulingGet() PURE_VIRTUAL;
10879 virtual
void FilterGainSchedulingSet(
bool enable) PURE_VIRTUAL;
10882 virtual
bool IsTuneable() PURE_VIRTUAL;
10903 virtual
void PostFilterLowPassSet(int32_t sectionNumber,
double frequency) PURE_VIRTUAL;
10923 virtual
void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10946 virtual
void PostFilterSingleOrderSet(int32_t sectionNumber,
double aOne,
double bZero,
double bOne) PURE_VIRTUAL;
10963 virtual
void PostFilterHighPassSet(int32_t sectionNumber,
double cornerFreq) PURE_VIRTUAL;
10985 virtual
void PostFilterNotchSet(int32_t sectionNumber,
double centerFreq,
double bandwidth) PURE_VIRTUAL;
11008 virtual
void PostFilterResonatorSet(int32_t sectionNumber,
double centerFreq,
double bandwidth,
double gain) PURE_VIRTUAL;
11031 virtual
void PostFilterLeadLagSet(int32_t sectionNumber,
double lowGain,
double highGain,
double centerFreq) PURE_VIRTUAL;
11051 virtual
void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
11076 virtual
void PostFilterBiquadSet(int32_t sectionNumber,
double aOne,
double aTwo,
double bZero,
double bOne,
double bTwo) PURE_VIRTUAL;
11079 virtual const
char* const PostFilterInfoGet() PURE_VIRTUAL;
11108 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
11131 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
11140 virtual
void PostTrajectoryGearingEnableSet(
bool enable) PURE_VIRTUAL;
11143 virtual
bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
11146 virtual
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
11149 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
11152 virtual
void PostTrajectoryGearingMultiplierSet(
double multiplier) PURE_VIRTUAL;
11155 virtual
double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
11201 virtual
double BacklashHysteresisLimitGet() PURE_VIRTUAL;
11202 virtual
void BacklashHysteresisLimitSet(
double hysteresisLimit) PURE_VIRTUAL;
11230 virtual
bool StepperMotorLoopbackGet() PURE_VIRTUAL;
11258 virtual
void StepperMotorLoopbackSet(
bool loopback) PURE_VIRTUAL;
11261 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
11339 virtual
Axis* AxisGet(int32_t index) PURE_VIRTUAL;
11361 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
11384 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
11407 virtual
double VectorVelocityGet() PURE_VIRTUAL;
11427 virtual
void VectorVelocitySet(
double velocity) PURE_VIRTUAL;
11446 virtual
double VectorAccelerationGet() PURE_VIRTUAL;
11473 virtual
void VectorAccelerationSet(
double acceleration) PURE_VIRTUAL;
11492 virtual
double VectorDecelerationGet() PURE_VIRTUAL;
11519 virtual
void VectorDecelerationSet(
double deceleration) PURE_VIRTUAL;
11538 virtual
double VectorJerkPercentGet() PURE_VIRTUAL;
11565 virtual
void VectorJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
11593 virtual
void MoveVector(const
double* const position) PURE_VIRTUAL;
11597 virtual
void MoveVectorRelative(const
double* const relativePosition) PURE_VIRTUAL;
11626 virtual
double PathTimeSliceGet() PURE_VIRTUAL;
11652 virtual
void PathTimeSliceSet(
double seconds) PURE_VIRTUAL;
11681 virtual
void PathRatioSet(const
double* const ratio) PURE_VIRTUAL;
11685 virtual
double PathRatioGet(int32_t index) PURE_VIRTUAL;
11706 virtual
void PathBlendSet(
bool blend) PURE_VIRTUAL;
11757 virtual
void PathListStart(const
double* const startPosition) PURE_VIRTUAL;
11782 virtual
void PathLineAdd(const
double* const position) PURE_VIRTUAL;
11806 virtual
void PathArcAdd(const
double* const center,
double angle) PURE_VIRTUAL;
11829 virtual
void PathListEnd() PURE_VIRTUAL;
11850 virtual
void PathMotionStart() PURE_VIRTUAL;
11875 virtual
void MoveTrapezoidal(const
double* const position, const
double* const vel, const
double* const accel, const
double* const decel) PURE_VIRTUAL;
11879 virtual
void MoveTrapezoidal(const
double* const position) PURE_VIRTUAL;
11909 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;
11913 virtual
void MoveSCurve(const
double* const position) PURE_VIRTUAL;
11932 virtual
void MoveVelocity(const
double* const velocity, const
double* const accel) PURE_VIRTUAL;
11937 virtual
void MoveVelocity(const
double* const velocity) PURE_VIRTUAL;
11959 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;
11963 virtual
void MoveRelative(const
double* const relativePosition) PURE_VIRTUAL;
11983 virtual
void MoveVelocitySCurve(const
double* const velocity, const
double* const accel, const
double* const jerkPct) PURE_VIRTUAL;
12004 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
12026 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
12029 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
12073 virtual
bool AmpEnableGet() PURE_VIRTUAL;
12319 virtual int32_t MaskGet() PURE_VIRTUAL;
12324 virtual
bool IsDigital() PURE_VIRTUAL;
12330 virtual
bool IsOutput() PURE_VIRTUAL;
12340 virtual
bool Get() PURE_VIRTUAL;
12349 virtual
void Set(
bool state) PURE_VIRTUAL;
12359 virtual
double ValueGet() PURE_VIRTUAL;
12365 virtual
void ValueSet(
double valueDouble) PURE_VIRTUAL;
12376 #if defined(_WIN32)
12611 #if defined(__cplusplus)