The RMP Motion Controller APIs
rsienums.h
1 #ifndef _RSI_CONSTANTS_H
3 #define _RSI_CONSTANTS_H
4 #include "rsiconstants.h"
5 
7 namespace RSI
8 {
9 
11 namespace RapidCode
12 {
15 
17 enum class RSIErrorMessage {
18  RSIAxisMessageAXIS_INVALID = RSICONSTANTAxisMessageAXIS_INVALID,
19  RSIAxisMessageCOMMAND_NOT_SET = RSICONSTANTAxisMessageCOMMAND_NOT_SET,
20  RSIAxisMessageNOT_MAPPED_TO_MS = RSICONSTANTAxisMessageNOT_MAPPED_TO_MS,
21  RSICaptureMessageMOTOR_INVALID = RSICONSTANTCaptureMessageMOTOR_INVALID,
22  RSICaptureMessageCAPTURE_TYPE_INVALID = RSICONSTANTCaptureMessageCAPTURE_TYPE_INVALID,
23  RSICaptureMessageCAPTURE_INVALID = RSICONSTANTCaptureMessageCAPTURE_INVALID,
24  RSICaptureMessageFEEDBACK_INVALID = RSICONSTANTCaptureMessageFEEDBACK_INVALID,
25  RSICaptureMessageINVALID_EDGE = RSICONSTANTCaptureMessageINVALID_EDGE,
26  RSICaptureMessageCAPTURE_NOT_ENABLED = RSICONSTANTCaptureMessageCAPTURE_NOT_ENABLED,
27  RSICaptureMessageCAPTURE_STATE_INVALID = RSICONSTANTCaptureMessageCAPTURE_STATE_INVALID,
28  RSICaptureMessageUNSUPPORTED_PRIMARY = RSICONSTANTCaptureMessageUNSUPPORTED_PRIMARY,
29  RSICaptureMessageUNSUPPORTED_SECONDARY = RSICONSTANTCaptureMessageUNSUPPORTED_SECONDARY,
30  RSICaptureMessageCAPTURE_ARMED = RSICONSTANTCaptureMessageCAPTURE_ARMED,
31  RSICommandMessageTYPE_INVALID = RSICONSTANTCommandMessageTYPE_INVALID,
32  RSICompensatorMessageCOMPENSATOR_INVALID = RSICONSTANTCompensatorMessageCOMPENSATOR_INVALID,
33  RSICompensatorMessageNOT_CONFIGURED = RSICONSTANTCompensatorMessageNOT_CONFIGURED,
34  RSICompensatorMessageNOT_ENABLED = RSICONSTANTCompensatorMessageNOT_ENABLED,
35  RSICompensatorMessageAXIS_NOT_ENABLED = RSICONSTANTCompensatorMessageAXIS_NOT_ENABLED,
36  RSICompensatorMessageTABLE_SIZE_ERROR = RSICONSTANTCompensatorMessageTABLE_SIZE_ERROR,
37  RSICompensatorMessagePOSITION_DELTA_INVALID = RSICONSTANTCompensatorMessagePOSITION_DELTA_INVALID,
38  RSICompensatorMessageDIMENSION_NOT_SUPPORTED = RSICONSTANTCompensatorMessageDIMENSION_NOT_SUPPORTED,
39  RSIControlMessageLIBRARY_VERSION = RSICONSTANTControlMessageLIBRARY_VERSION,
40  RSIControlMessageCONTROL_INVALID = RSICONSTANTControlMessageCONTROL_INVALID,
41  RSIControlMessageCONTROL_NUMBER_INVALID = RSICONSTANTControlMessageCONTROL_NUMBER_INVALID,
42  RSIControlMessageTYPE_INVALID = RSICONSTANTControlMessageTYPE_INVALID,
43  RSIControlMessageINTERRUPTS_DISABLED = RSICONSTANTControlMessageINTERRUPTS_DISABLED,
44  RSIControlMessageINTERNAL_MEMORY_OVERFLOW = RSICONSTANTControlMessageINTERNAL_MEMORY_OVERFLOW,
45  RSIControlMessageEXTERNAL_MEMORY_OVERFLOW = RSICONSTANTControlMessageEXTERNAL_MEMORY_OVERFLOW,
46  RSIControlMessageBACKGROUND_STARVATION = RSICONSTANTControlMessageBACKGROUND_STARVATION,
47  RSIControlMessageMOTOR_COUNT_INVALID = RSICONSTANTControlMessageMOTOR_COUNT_INVALID,
48  RSIControlMessageFILTER_COUNT_INVALID = RSICONSTANTControlMessageFILTER_COUNT_INVALID,
49  RSIControlMessageAXIS_COUNT_INVALID = RSICONSTANTControlMessageAXIS_COUNT_INVALID,
50  RSIControlMessageAXIS_FRAME_COUNT_INVALID = RSICONSTANTControlMessageAXIS_FRAME_COUNT_INVALID,
51  RSIControlMessageMOTION_COUNT_INVALID = RSICONSTANTControlMessageMOTION_COUNT_INVALID,
52  RSIControlMessageMATH_BLOCK_COUNT_INVALID = RSICONSTANTControlMessageMATH_BLOCK_COUNT_INVALID,
53  RSIControlMessageSEQUENCE_COUNT_INVALID = RSICONSTANTControlMessageSEQUENCE_COUNT_INVALID,
54  RSIControlMessagePRE_FILTER_DELAY_COUNT_INVALID = RSICONSTANTControlMessagePRE_FILTER_DELAY_COUNT_INVALID,
55  RSIControlMessageRECORDER_COUNT_INVALID = RSICONSTANTControlMessageRECORDER_COUNT_INVALID,
56  RSIControlMessageLIMIT_BLOCK_COUNT_INVALID = RSICONSTANTControlMessageLIMIT_BLOCK_COUNT_INVALID,
57  RSIControlMessageCOMPENSATOR_COUNT_INVALID = RSICONSTANTControlMessageCOMPENSATOR_COUNT_INVALID,
58  RSIControlMessageCAPTURE_COUNT_INVALID = RSICONSTANTControlMessageCAPTURE_COUNT_INVALID,
59  RSIControlMessageTX_TIME_INVALID = RSICONSTANTControlMessageTX_TIME_INVALID,
60  RSIControlMessageSAMPLE_RATE_TO_LOW = RSICONSTANTControlMessageSAMPLE_RATE_TO_LOW,
61  RSIControlMessageSAMPLE_RATE_TO_HIGH = RSICONSTANTControlMessageSAMPLE_RATE_TO_HIGH,
62  RSIControlMessageAXIS_RUNNING = RSICONSTANTControlMessageAXIS_RUNNING,
63  RSIControlMessageRECORDER_RUNNING = RSICONSTANTControlMessageRECORDER_RUNNING,
64  RSIControlMessagePACK_ALIGNMENT = RSICONSTANTControlMessagePACK_ALIGNMENT,
65  RSIControlMessageFIRMWARE_INVALID = RSICONSTANTControlMessageFIRMWARE_INVALID,
66  RSIControlMessageFIRMWARE_VERSION_NONE = RSICONSTANTControlMessageFIRMWARE_VERSION_NONE,
67  RSIControlMessageFIRMWARE_VERSION = RSICONSTANTControlMessageFIRMWARE_VERSION,
68  RSIControlMessageNO_FPGA_SOCKET = RSICONSTANTControlMessageNO_FPGA_SOCKET,
69  RSIControlMessageSYNQNET_STATE = RSICONSTANTControlMessageSYNQNET_STATE,
70  RSIControlMessageIO_BIT_INVALID = RSICONSTANTControlMessageIO_BIT_INVALID,
71  RSIControlMessageOBJECT_INDEX_INVALID = RSICONSTANTControlMessageOBJECT_INDEX_INVALID,
72  RSIControlMessageOBJECT_INVALID = RSICONSTANTControlMessageOBJECT_INVALID,
73  RSIControlMessageFLASH_SYNQNET_STATE_INVALID = RSICONSTANTControlMessageFLASH_SYNQNET_STATE_INVALID,
74  RSIControlMessageFLASH_INVALID = RSICONSTANTControlMessageFLASH_INVALID,
75  RSIControlMessageFLASH_VERIFY_ERROR = RSICONSTANTControlMessageFLASH_VERIFY_ERROR,
76  RSIControlMessageFLASH_WRITE_ERROR = RSICONSTANTControlMessageFLASH_WRITE_ERROR,
77  RSIControlMessageFILE_INACCESSIBLE = RSICONSTANTControlMessageFILE_INACCESSIBLE,
78  RSIControlMessageBUFFER_TOO_SMALL = RSICONSTANTControlMessageBUFFER_TOO_SMALL,
79  RSIControlMessageEVENTS_LOST = RSICONSTANTControlMessageEVENTS_LOST,
80  RSIElementMessageELEMENT_INVALID = RSICONSTANTElementMessageELEMENT_INVALID,
81  RSIEventMessageEVENT_INVALID = RSICONSTANTEventMessageEVENT_INVALID,
82  RSIFilterMessageFILTER_INVALID = RSICONSTANTFilterMessageFILTER_INVALID,
83  RSIFilterMessageINVALID_ALGORITHM = RSICONSTANTFilterMessageINVALID_ALGORITHM,
84  RSIFilterMessageINVALID_DRATE = RSICONSTANTFilterMessageINVALID_DRATE,
85  RSIFilterMessageCONVERSION_DIV_BY_0 = RSICONSTANTFilterMessageCONVERSION_DIV_BY_0,
86  RSIFilterMessageSECTION_NOT_ENABLED = RSICONSTANTFilterMessageSECTION_NOT_ENABLED,
87  RSIFilterMessageINVALID_FILTER_FORM = RSICONSTANTFilterMessageINVALID_FILTER_FORM,
88  RSIFilterMessageINVALID_SMOOTHING = RSICONSTANTFilterMessageINVALID_SMOOTHING,
89  RSIGeometricPathMessageILLEGAL_DIMENSION = RSICONSTANTGeometricPathMessageILLEGAL_DIMENSION,
90  RSIGeometricPathMessageILLEGAL_ELEMENT = RSICONSTANTGeometricPathMessageILLEGAL_ELEMENT,
91  RSIGeometricPathMessageARC_ILLEGAL_DIMENSION = RSICONSTANTGeometricPathMessageARC_ILLEGAL_DIMENSION,
92  RSIGeometricPathMessageILLEGAL_RADIUS = RSICONSTANTGeometricPathMessageILLEGAL_RADIUS,
93  RSIGeometricPathMessagePATH_TOO_LONG = RSICONSTANTGeometricPathMessagePATH_TOO_LONG,
94  RSIGeometricPathMessageUNSUPPORTED_TYPE = RSICONSTANTGeometricPathMessageUNSUPPORTED_TYPE,
95  RSIGeometricPathMessageILLEGAL_VELOCITY = RSICONSTANTGeometricPathMessageILLEGAL_VELOCITY,
96  RSIGeometricPathMessageILLEGAL_ACCELERATION = RSICONSTANTGeometricPathMessageILLEGAL_ACCELERATION,
97  RSIGeometricPathMessageILLEGAL_TIMESLICE = RSICONSTANTGeometricPathMessageILLEGAL_TIMESLICE,
98  RSILicenseMessageNOT_VALID = RSICONSTANTLicenseMessageNOT_VALID,
99  RSILicenseMessageNOFEATURE = RSICONSTANTLicenseMessageNOFEATURE,
100  RSILicenseMessageNOAXIS = RSICONSTANTLicenseMessageNOAXIS,
101  RSILicenseMessageCONTROL_TYPE_FILE = RSICONSTANTLicenseMessageCONTROL_TYPE_FILE,
102  RSILicenseMessageEXPIRED = RSICONSTANTLicenseMessageEXPIRED,
103  RSILicenseMessageUNLICENSED = RSICONSTANTLicenseMessageUNLICENSED,
104  RSILicenseMessageNO_APP_LICENSE = RSICONSTANTLicenseMessageNO_APP_LICENSE,
105  RSIListMessageELEMENT_NOT_FOUND = RSICONSTANTListMessageELEMENT_NOT_FOUND,
106  RSIListMessageELEMENT_INVALID = RSICONSTANTListMessageELEMENT_INVALID,
107  RSIMessageOK = RSICONSTANTMessageOK,
108  RSIMessageARG_INVALID = RSICONSTANTMessageARG_INVALID,
109  RSIMessagePARAM_INVALID = RSICONSTANTMessagePARAM_INVALID,
110  RSIMessageHANDLE_INVALID = RSICONSTANTMessageHANDLE_INVALID,
111  RSIMessageNO_MEMORY = RSICONSTANTMessageNO_MEMORY,
112  RSIMessageOBJECT_FREED = RSICONSTANTMessageOBJECT_FREED,
113  RSIMessageOBJECT_NOT_ENABLED = RSICONSTANTMessageOBJECT_NOT_ENABLED,
114  RSIMessageOBJECT_NOT_FOUND = RSICONSTANTMessageOBJECT_NOT_FOUND,
115  RSIMessageOBJECT_ON_LIST = RSICONSTANTMessageOBJECT_ON_LIST,
116  RSIMessageOBJECT_IN_USE = RSICONSTANTMessageOBJECT_IN_USE,
117  RSIMessageTIMEOUT = RSICONSTANTMessageTIMEOUT,
118  RSIMessageUNSUPPORTED = RSICONSTANTMessageUNSUPPORTED,
119  RSIMessageFATAL_ERROR = RSICONSTANTMessageFATAL_ERROR,
120  RSIMessageFILE_CLOSE_ERROR = RSICONSTANTMessageFILE_CLOSE_ERROR,
121  RSIMessageFILE_OPEN_ERROR = RSICONSTANTMessageFILE_OPEN_ERROR,
122  RSIMessageFILE_READ_ERROR = RSICONSTANTMessageFILE_READ_ERROR,
123  RSIMessageFILE_WRITE_ERROR = RSICONSTANTMessageFILE_WRITE_ERROR,
124  RSIMessageFILE_MISMATCH = RSICONSTANTMessageFILE_MISMATCH,
125  RSIMessageASSERT_FAILURE = RSICONSTANTMessageASSERT_FAILURE,
126  RSIClientMessageMETHOD_INVALID = RSICONSTANTClientMessageMETHOD_INVALID,
127  RSIClientMessageHEADER_INVALID = RSICONSTANTClientMessageHEADER_INVALID,
128  RSIClientMessageRSICONSTANT_INCOMPATIBLE = RSICONSTANTClientMessageRSICONSTANT_INCOMPATIBLE,
129  RSIClientMessageSERVER_INCOMPATIBLE = RSICONSTANTClientMessageSERVER_INCOMPATIBLE,
130  RSIClientMessageSERVER_INACCESSIBLE = RSICONSTANTClientMessageSERVER_INACCESSIBLE,
131  RSIClientMessageCOUNT = RSICONSTANTClientMessageCOUNT,
132  RSIMotionMessageMOTION_INVALID = RSICONSTANTMotionMessageMOTION_INVALID,
133  RSIMotionMessageAXIS_COUNT = RSICONSTANTMotionMessageAXIS_COUNT,
134  RSIMotionMessageAXIS_FRAME_COUNT = RSICONSTANTMotionMessageAXIS_FRAME_COUNT,
135  RSIMotionMessageTYPE_INVALID = RSICONSTANTMotionMessageTYPE_INVALID,
136  RSIMotionMessageATTRIBUTE_INVALID = RSICONSTANTMotionMessageATTRIBUTE_INVALID,
137  RSIMotionMessageIDLE = RSICONSTANTMotionMessageIDLE,
138  RSIMotionMessageMOVING = RSICONSTANTMotionMessageMOVING,
139  RSIMotionMessageSTOPPING = RSICONSTANTMotionMessageSTOPPING,
140  RSIMotionMessageSTOPPED = RSICONSTANTMotionMessageSTOPPED,
141  RSIMotionMessageSTOPPING_ERROR = RSICONSTANTMotionMessageSTOPPING_ERROR,
142  RSIMotionMessageERROR = RSICONSTANTMotionMessageERROR,
143  RSIMotionMessageAUTO_START = RSICONSTANTMotionMessageAUTO_START,
144  RSIMotionMessageILLEGAL_DELAY = RSICONSTANTMotionMessageILLEGAL_DELAY,
145  RSIMotionMessagePROFILE_ERROR = RSICONSTANTMotionMessagePROFILE_ERROR,
146  RSIMotionMessagePROFILE_NOT_SUPPORTED = RSICONSTANTMotionMessagePROFILE_NOT_SUPPORTED,
147  RSIMotionMessagePATH_ERROR = RSICONSTANTMotionMessagePATH_ERROR,
148  RSIMotionMessageFRAMES_LOW = RSICONSTANTMotionMessageFRAMES_LOW,
149  RSIMotionMessageFRAMES_EMPTY = RSICONSTANTMotionMessageFRAMES_EMPTY,
150  RSIMotionMessageFRAME_BUFFER_OVERRUN = RSICONSTANTMotionMessageFRAME_BUFFER_OVERRUN,
151  RSIMotionMessageRESERVED0 = RSICONSTANTMotionMessageRESERVED0,
152  RSIMotionMessageRESERVED1 = RSICONSTANTMotionMessageRESERVED1,
153  RSIMotionMessageRESERVED2 = RSICONSTANTMotionMessageRESERVED2,
154  RSIMotionMessageNO_AXES_MAPPED = RSICONSTANTMotionMessageNO_AXES_MAPPED,
155  RSIMotionMessageBAD_PATH_DATA = RSICONSTANTMotionMessageBAD_PATH_DATA,
156  RSIMotionMessageAXIS_MOVING = RSICONSTANTMotionMessageAXIS_MOVING,
157  RSIMotionMessageAXIS_MAP_MISMATCH = RSICONSTANTMotionMessageAXIS_MAP_MISMATCH,
158  RSIMotorMessageMOTOR_INVALID = RSICONSTANTMotorMessageMOTOR_INVALID,
159  RSIMotorMessageTYPE_INVALID = RSICONSTANTMotorMessageTYPE_INVALID,
160  RSIMotorMessageSTEPPER_NA = RSICONSTANTMotorMessageSTEPPER_NA,
161  RSIMotorMessageMOTOR_NOT_ENABLED = RSICONSTANTMotorMessageMOTOR_NOT_ENABLED,
162  RSIMotorMessageSECONDARY_FEEDBACK_NA = RSICONSTANTMotorMessageSECONDARY_FEEDBACK_NA,
163  RSIMotorMessageHARDWARE_NOT_FOUND = RSICONSTANTMotorMessageHARDWARE_NOT_FOUND,
164  RSIMotorMessageSTEPPER_INVALID = RSICONSTANTMotorMessageSTEPPER_INVALID,
165  RSIMotorMessageDISABLE_ACTION_INVALID = RSICONSTANTMotorMessageDISABLE_ACTION_INVALID,
166  RSIMotorMessagePULSE_WIDTH_INVALID = RSICONSTANTMotorMessagePULSE_WIDTH_INVALID,
167  RSIMotorMessageFEEDBACK_REVERSAL_NA = RSICONSTANTMotorMessageFEEDBACK_REVERSAL_NA,
168  RSIMotorMessagePHASE_FINDING_FAILED = RSICONSTANTMotorMessagePHASE_FINDING_FAILED,
169  RSIMotorMessageDEMAND_MODE_UNSUPPORTED = RSICONSTANTMotorMessageDEMAND_MODE_UNSUPPORTED,
170  RSIMotorMessageDEMAND_MODE_NOT_SET = RSICONSTANTMotorMessageDEMAND_MODE_NOT_SET,
171  RSIMotorMessagePOSITION_FEEDBACK_OFFSET_UNSUPPORTED = RSICONSTANTMotorMessagePOSITION_FEEDBACK_OFFSET_UNSUPPORTED,
172  RSIMotorMessagePOSITION_FEEDBACK_OFFSET_SET_FAILED = RSICONSTANTMotorMessagePOSITION_FEEDBACK_OFFSET_SET_FAILED,
173  RSIMotorMessagePOSITION_FEEDBACK_OFFSET_UNINITIALIZED = RSICONSTANTMotorMessagePOSITION_FEEDBACK_OFFSET_UNINITIALIZED,
174  RSIMapMessageNAME_INVALID = RSICONSTANTMapMessageNAME_INVALID,
175  RSIMapMessageNAME_NOT_FOUND = RSICONSTANTMapMessageNAME_NOT_FOUND,
176  RSIMapMessageINDEX_INVALID = RSICONSTANTMapMessageINDEX_INVALID,
177  RSIMapMessageFILE_INVALID = RSICONSTANTMapMessageFILE_INVALID,
178  RSIMapMessageSYMBOL_NOT_FOUND = RSICONSTANTMapMessageSYMBOL_NOT_FOUND,
179  RSIMapMessageSYMBOL_INVALID = RSICONSTANTMapMessageSYMBOL_INVALID,
180  RSIThreadMessageTHREAD_NOT_RUNNING = RSICONSTANTThreadMessageTHREAD_NOT_RUNNING,
181  RSIThreadMessageTHREAD_RUNNING = RSICONSTANTThreadMessageTHREAD_RUNNING,
182  RSIThreadMessageTHREAD_NOT_STARTED = RSICONSTANTThreadMessageTHREAD_NOT_STARTED,
183  RSINotifyMessageWAIT_IN_PROGRESS = RSICONSTANTNotifyMessageWAIT_IN_PROGRESS,
184  RSIPacketMessageADDRESS_INVALID = RSICONSTANTPacketMessageADDRESS_INVALID,
185  RSIPacketMessageCOMM_ERROR = RSICONSTANTPacketMessageCOMM_ERROR,
186  RSIPacketMessageCONNECTION_CLOSED = RSICONSTANTPacketMessageCONNECTION_CLOSED,
187  RSIPlatformMessagePLATFORM_INVALID = RSICONSTANTPlatformMessagePLATFORM_INVALID,
188  RSIPlatformMessageDEVICE_INVALID = RSICONSTANTPlatformMessageDEVICE_INVALID,
189  RSIPlatformMessageDEVICE_ERROR = RSICONSTANTPlatformMessageDEVICE_ERROR,
190  RSIPlatformMessageDEVICE_MAP_ERROR = RSICONSTANTPlatformMessageDEVICE_MAP_ERROR,
191  RSIPlatformMessageCOPY64_FAILURE = RSICONSTANTPlatformMessageCOPY64_FAILURE,
192  RSIPlatformMessagePATH_DOES_NOT_EXIST = RSICONSTANTPlatformMessagePATH_DOES_NOT_EXIST,
193  RSIPlatformMessagePATH_IS_NOT_A_DIRECTORY = RSICONSTANTPlatformMessagePATH_IS_NOT_A_DIRECTORY,
194  RSIPlatformMessageINSTALL_VARIABLE_NOT_SET = RSICONSTANTPlatformMessageINSTALL_VARIABLE_NOT_SET,
195  RSIPlatformMessageDRIVER_VERSION_INCOMPATIBLE = RSICONSTANTPlatformMessageDRIVER_VERSION_INCOMPATIBLE,
196  RSIPlatformMessageFILE_TYPE_INVALID = RSICONSTANTPlatformMessageFILE_TYPE_INVALID,
197  RSIPlatformMessageFILE_VERSION = RSICONSTANTPlatformMessageFILE_VERSION,
198  RSIPlatformMessageUSER_IS_NOT_ADMIN = RSICONSTANTPlatformMessageUSER_IS_NOT_ADMIN,
199  RSIPlatformMessageINTIME_VERSION_UNSUPPORTED = RSICONSTANTPlatformMessageINTIME_VERSION_UNSUPPORTED,
200  RSIPlatformMessageINTIME_NODE_DOES_NOT_EXIST = RSICONSTANTPlatformMessageINTIME_NODE_DOES_NOT_EXIST,
201  RSIPlatformMessageINTIME_NOT_STARTED = RSICONSTANTPlatformMessageINTIME_NOT_STARTED,
202  RSIPlatformMessageRMP_NOT_STARTED = RSICONSTANTPlatformMessageRMP_NOT_STARTED,
203  RSIPlatformMessageRSI_LICENSE_NOT_FOUND = RSICONSTANTPlatformMessageRSI_LICENSE_NOT_FOUND,
204  RSIPlatformMessageRSI_LICENSE_INVALID = RSICONSTANTPlatformMessageRSI_LICENSE_INVALID,
205  RSIRecorderMessageSTARTED = RSICONSTANTRecorderMessageSTARTED,
206  RSIRecorderMessageSTOPPED = RSICONSTANTRecorderMessageSTOPPED,
207  RSIRecorderMessageNOT_CONFIGURED = RSICONSTANTRecorderMessageNOT_CONFIGURED,
208  RSIRecorderMessageNO_RECORDERS_AVAIL = RSICONSTANTRecorderMessageNO_RECORDERS_AVAIL,
209  RSIRecorderMessageNOT_ENABLED = RSICONSTANTRecorderMessageNOT_ENABLED,
210  RSIRecorderMessageRUNNING = RSICONSTANTRecorderMessageRUNNING,
211  RSIRecorderMessageRECORD_COUNT_INVALID = RSICONSTANTRecorderMessageRECORD_COUNT_INVALID,
212  RSIRecorderMessageRESERVED = RSICONSTANTRecorderMessageRESERVED,
213  RSIRecorderMessageNOT_RESERVED = RSICONSTANTRecorderMessageNOT_RESERVED,
214  RSIServerMessageMETHOD_INVALID = RSICONSTANTServerMessageMETHOD_INVALID,
215  RSIServerMessageHEADER_INVALID = RSICONSTANTServerMessageHEADER_INVALID,
216  RSIUserLimitMessageUSER_LIMIT_INVALID = RSICONSTANTUserLimitMessageUSER_LIMIT_INVALID,
217  // dropped the SqNode looks like we still use node so moved to RSI errors after RSICONSTANTRsiErrorStart
218  // RSINetworkNodeMessageNODE_FAILURE = RSICONSTANTSqNodeMessageNODE_FAILURE,///< .
219  RSI_CONTROLLER_INVALID_CONTROLLER_NUMBER = RSICONSTANTRsiErrorStart,
220  RSI_CONTROLLER_INVALID_SERVER_NAME,
221  RSI_CONTROLLER_INVALID_CONTROLLER_TYPE,
222  RSI_INVALID_ID,
223  RSI_CONTROLLER_NOT_SYNC_INTERRUPT,
224  RSI_CONTROLLER_CUSTOM_FIRMWARE_REQUIRED,
225  RSI_AXIS_HOME_METHOD_NOT_SUPPORTED,
226  RSI_AXIS_HOME_CAPTURE_FAILED,
227  RSI_AXIS_HOME_CAPTURE_ARMING_FAILED,
228  RSI_AXIS_HOME_INVALID_HOME_VELOCITY,
229  RSI_AXIS_HOME_INVALID_HOME_SLOW_VELOCITY,
230  RSI_AXIS_HOME_INVALID_HOME_ACCELERATION,
231  RSI_AXIS_HOME_INVALID_HOME_DECELERATION,
232  RSI_AXIS_HOME_CANCELED,
233  RSI_AXIS_HOME_FAILED_TO_REACH_DESIRED_STATE_OF_SWITCH,
234  RSI_FUNCTION_NOT_SUPPORTED,
235  RSI_ERROR_LOG_EMPTY,
236  RSI_ERROR_LOG_FULL,
237  RSI_SQNODE_NOT_IO_NODE,
238  RSI_AXIS_ADDRESS_TYPE_UNKNOWN,
239  RSI_METHOD_UNSUPPORTED,
240  RSI_MOTION_DONE_WAIT_TIMEOUT,
241  RSI_ERROR_MESSAGE_DYNAMIC,
242  RSI_NETWORK_FIRMWARE_IS_BUSY,
243  RSI_CONTROLLER_INVALID_UNHANDLED,
244  RSI_STREAMING_OUTPUT_CONFIG_INVALID,
245  RSI_AXIS_HOME_FAILED_TO_REACH_MAX_TRAVEL,
246  RSI_AXIS_HOME_UNEXPECTED_STATE,
247  RSI_AXIS_HOME_INVALID_POS_LIMIT_HIT,
248  RSI_AXIS_HOME_INVALID_NEG_LIMIT_HIT,
249  RSI_AXIS_LIMIT_UNEXPECTED_STATE,
250  RSI_AXIS_RISING_HOME_STATE_HIGH_CHECK,
251  RSI_AXIS_RISING_HOME_STATE_LOW_CHECK,
252  RSI_AXIS_FALLING_HOME_STATE_HIGH_CHECK,
253  RSI_AXIS_FALLING_HOME_STATE_LOW_CHECK,
254  RSI_AXIS_HOME_INDEX_NOT_SUPPORTED,
255  RSI_AXIS_HOME_INDEX_NOT_REACHABLE,
256  RSI_AXIS_HOME_INDEX_NOT_REACHED,
257  RSI_NETWORK_NODE_DOES_NOT_EXIST,
258  RSI_COMPENSATOR_POINT_COUNT_INVALID,
259  RSI_COMPENSATOR_COULD_NOT_DISABLE_SINGLE,
260  RSI_COMPENSATOR_COULD_NOT_ENABLE_ADDITIVE,
261  RSI_COMPENSATOR_INVALID_AXIS_MASTER_TYPE,
262  RSI_COMPENSATOR_COULD_NOT_ENABLE_AXIS_ACTUAL_POSITION,
263  RSI_IOPOINT_INVALID_OUTPUT,
264  RSI_FIRMWARE_VERSION_MISMATCH,
265  RSI_NOFEATURE_LICENSE,
266  RSI_GCODE_PARSE,
267  RSI_GCODE,
268  RSI_GCODE_LINE,
269  RSI_GCODE_SYNTAX,
270  RSI_EXECUTOR,
271  RSI_CARTESIAN_TRAJECTORY_BUILDER,
272  RSI_CARTESIAN_PATH,
273  RSI_CARTESIAN_PATH_LINE,
274  RSI_CARTESIAN_ROBOT,
275  // Used SqNode Message error for EtherCat node error. users might have used old enum in code so left naming style intact for now
277 
278 };
279 
281 enum class RSIControllerType {
282  RSIControllerTypeINVALID_ID,
283  RSIControllerTypeCLIENT = RSICONSTANTControlTypeCLIENT,
284  RSIControllerTypeFILE = RSICONSTANTControlTypeFILE,
285  RSIControllerTypeSIMULATION = RSICONSTANTControlTypeSIMULATION,
286  RSIControllerTypeSOFTWARE,
287  RSIControllerTypeUNINITIALIZED = RSICONSTANTControlTypeINVALID,
288 
289 };
290 
293  RSIIMotionControllerInitializationStateOK,
294  RSIIMotionControllerInitializationStateDEVICE_DRIVER_ERROR,
295  RSIIMotionControllerInitializationStateRSI_ERROR,
296  RSIIMotionControllerInitializationStateINVALID_FIRMWARE,
298 };
299 
301 enum class RSIProcessorType {
303 };
304 
307 enum class RSIHomeMethod {
308  RSIHomeMethodNONE = 0,
309 
310  RSIHomeMethodNEGATIVE_LIMIT_THEN_RIGHT_INDEX = 1,
311  RSIHomeMethodPOSITIVE_LIMIT_THEN_LEFT_INDEX = 2,
312  RSIHomeMethodRISING_HOME_THEN_LEFT_INDEX = 3,
313  RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX = 4,
314  RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX = 5,
315  RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX = 6,
316 
317  RSIHomeMethodRISING_HOME_THEN_LEFT_INDEX_POSITIVE_START = 7,
318  RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START = 8,
319  RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START = 9,
320  RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START = 10,
321 
322  RSIHomeMethodFALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START = 11,
323  RSIHomeMethodFALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START = 12,
324  RSIHomeMethodRISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START = 13,
325  RSIHomeMethodRISING_HOME_THEN_LEFT_INDEX_NEGATIVE_START = 14,
326 
327  RSIHomeMethodRESERVED_15 = 15,
328  RSIHomeMethodRESERVED_16 = 16,
329 
330  RSIHomeMethodNEGATIVE_LIMIT = 17,
331  RSIHomeMethodPOSITIVE_LIMIT = 18,
332  RSIHomeMethodRISING_HOME = 19,
333  RSIHomeMethodFALLING_HOME = 21,
334 
335  RSIHomeMethodRISING_HOME_POSITIVE_START = 23,
336  RSIHomeMethodFALLING_HOME_POSITIVE_START = 25,
337 
338  RSIHomeMethodFALLING_HOME_NEGATIVE_START = 27,
339  RSIHomeMethodRISING_HOME_NEGATIVE_START = 29,
340 
341  RSIHomeMethodRESERVED_31 = 31,
342  RSIHomeMethodRESERVED_32 = 32,
343 
344  RSIHomeMethodINDEX_NEGATIVE_START = 33,
345  RSIHomeMethodINDEX_POSITIVE_START = 34,
346 
347  RSIHomeMethodCURRENT_POSITION = 35,
348 
349  RSIHomeMethodNEGATIVE_HARDSTOP,
350  RSIHomeMethodPOSITIVE_HARDSTOP,
351 
352  RSIHomeMethodImprovedNone = 100,
353  RSIHomeMethodImprovedNEGATIVE_LIMIT_THEN_RIGHT_INDEX = 101,
354  RSIHomeMethodImprovedPOSITIVE_LIMIT_THEN_LEFT_INDEX = 102,
355  RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX = 103,
356  RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX = 104,
357  RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX = 105,
358  RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX = 106,
359 
360  RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX_POSITIVE_START = 107,
361  RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START = 108,
362  RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START = 109,
363  RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START = 110,
364 
365  RSIHomeMethodImprovedFALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START = 111,
366  RSIHomeMethodImprovedFALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START = 112,
367  RSIHomeMethodImprovedRISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START = 113,
368  RSIHomeMethodImprovedRISING_HOME_THEN_LEFT_INDEX_NEGATIVE_START = 114,
369 
370  RSIHomeMethodImprovedRESERVED_115 = 115,
371  RSIHomeMethodImprovedRESERVED_116 = 116,
372 
373  RSIHomeMethodImprovedNEGATIVE_LIMIT = 117,
374  RSIHomeMethodImprovedPOSITIVE_LIMIT = 118,
375  RSIHomeMethodImprovedPOSITIVE_HOME_NEGATIVE_MOMENTUM = 119,
376  RSIHomeMethodImprovedPOSITIVE_HOME_POSITIVE_MOMENTUM = 120,
377  RSIHomeMethodImprovedNEGATIVE_HOME_POSITIVE_MOMENTUM = 121,
378  RSIHomeMethodImprovedNEGATIVE_HOME_NEGATIVE_MOMENTUM = 122,
379 
380  RSIHomeMethodImprovedRISING_HOME_POSITIVE_START_NEGATIVE_MOMENTUM = 123,
381  RSIHomeMethodImprovedRISING_HOME_POSITIVE_START_POSITIVE_MOMENTUM = 124,
382  RSIHomeMethodImprovedFALLING_HOME_POSITIVE_START_NEGATIVE_MOMENTUM = 125,
383  RSIHomeMethodImprovedFALLING_HOME_POSITIVE_START_POITIVE_MOMENTUM = 126,
384 
385  RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM = 127,
386  RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_NEGATIVE_MOMENTUM = 128,
387  RSIHomeMethodImprovedRISING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM = 129,
388  RSIHomeMethodImprovedRISING_HOME_NEGATIVE_START_NEGATIVE_MOMENTUM = 130,
389 
390  RSIHomeMethodImprovedRESERVED_131 = 131,
391  RSIHomeMethodImprovedRESERVED_132 = 132,
392 
393  RSIHomeMethodImprovedNEGATIVE_INDEX = 133,
394  RSIHomeMethodImprovedPOSITIVE_INDEX = 134,
395 
396  RSIHomeMethodImprovedCURRENT_POSITION = 135,
397 
398  RSIHomeMethodImprovedNEGATIVE_HARDSTOP = 136,
400 };
401 
403 enum class RSIHomeStage {
404  RSIHomeStageSTAGE_ONE = 0,
405  RSIHomeStageSTAGE_TWO = 1,
406  RSIHomeStageSTAGE_THREE = 2,
408 };
409 
412  RSIControllerAddressTypeSAMPLE_COUNTER,
413  RSIControllerAddressTypeSIGNATURE,
414  RSIControllerAddressTypeUSER_BUFFER,
415  RSIControllerAddressTypeRECORDER_BUFFER_POINTER,
416  RSIControllerAddressTypeLIMIT_ENABLED_MASK,
417  RSIControllerAddressTypeUSERLIMIT_STATUS,
418  RSIControllerAddressTypeFRAME_SEND_RECEIVE_MICROSECONDS,
419  RSIControllerAddressTypeCOMPENSATOR_OUTPUT_TYPE,
420  RSIControllerAddressTypeCOMPENSATOR_COMPENSATOR_VALUE,
421  RSIControllerAddressTypeSEQUENCER_GLOBALS_METADATA,
423 };
424 
426 enum class RSIAxisAddressType {
427  RSIAxisAddressTypeACTUAL_POSITION,
428  RSIAxisAddressTypeCOMMAND_POSITION,
429  RSIAxisAddressTypePOSITION_ERROR,
430  RSIAxisAddressTypeACTUAL_VELOCITY,
431  RSIAxisAddressTypeCOMMAND_VELOCITY,
432  RSIAxisAddressTypeCOMMAND_ACCELERATION,
433  RSIAxisAddressTypeSTATUS,
434  RSIAxisAddressTypeMOTION_STATUS,
435  RSIAxisAddressTypeDEMAND,
436  RSIAxisAddressTypeDIGITAL_OUTPUTS,
437  RSIAxisAddressTypeDIGITAL_INPUTS,
438  RSIAxisAddressTypeDEDICATED_OUTPUTS,
439  RSIAxisAddressTypeDEDICATED_INPUTS,
440  RSIAxisAddressTypeMOTION_ID,
441  RSIAxisAddressTypeMOTION_ELEMENT_ID,
442  RSIAxisAddressTypeENCODER_PRIMARY,
443  RSIAxisAddressTypeENCODER_SECONDARY,
444  RSIAxisAddressTypeFILTER_GAIN_KP,
445  RSIAxisAddressTypeENCODER_PRIMARY_DELTA,
446  RSIAxisAddressTypeENCODER_SECONDARY_DELTA,
447  RSIAxisAddressTypeFILTER_SMOOTHED_VELOCITY,
448  RSIAxisAddressTypeFILTER_PRIMARY_POINTER,
449  RSIAxisAddressTypeFILTER_SECONDARY_POINTER,
450  RSIAxisAddressTypeFILTER_PRIMARY_COEFF,
451  RSIAxisAddressTypeFILTER_SECONDARY_COEFF,
452  RSIAxisAddressTypeFILTER_VELOCITY_POINTER,
453  RSIAxisAddressTypeAXIS_LINK,
454  RSIAxisAddressTypeDEMAND_PRIMARY_OUTPUT,
455  RSIAxisAddressTypeENCODER_PRIMARY_POINTER,
456  RSIAxisAddressTypeDEMAND_CHANNEL_ONE_OUTPUT,
457  RSIAxisAddressTypeDEMAND_CHANNEL_TWO_OUTPUT,
458  RSIAxisAddressTypeDEMAND_CHANNEL_THREE_OUTPUT,
459  RSIAxisAddressTypeDEMAND_PRIMARY_INPUT,
460  RSIAxisAddressTypeDEMAND_CHANNEL_ONE_INPUT,
461  RSIAxisAddressTypeDEMAND_CHANNEL_TWO_INPUT,
462  RSIAxisAddressTypeDEMAND_CHANNEL_THREE_INPUT,
463  RSIAxisAddressTypeCONTROL_MODE_PRIMARY_MAP,
464  RSIAxisAddressTypeAXIS_CONFIG_FEEDBACKPTR_ZERO,
465  RSIAxisAddressTypeAXIS_CONFIG_FEEDBACKPTR_ONE,
466  RSIAxisAddressTypeTARGET_FEEDRATE,
467  RSIAxisAddressTypeTC_ACTUAL_POSITION,
468  RSIAxisAddressTypeTC_COMMAND_POSITION,
469  RSIAxisAddressTypeMOTOR_DATA_STATUS,
470  RSIAxisAddressTypeCOMPENSATION_CURRENT_VALUE,
471  RSIAxisAddressTypeCOMPENSATION_FINAL_VALUE,
472  RSIAxisAddressTypeBACKLASH_VALUE,
473  RSIAxisAddressTypeTARGET_POSITION,
474  RSIAxisAddressTypeDEDICATED_INPUTS_POINTER,
475  RSIAxisAddressTypeAMP_ACTIVE_SUPPORTED,
476  RSIAxisAddressTypeDS402_SUPPORTED,
477  RSIAxisAddressTypeDEMAND_PRIMARY_SCALE,
478  RSIAxisAddressTypeDEMAND_CHANNEL_ONE_SCALE,
479  RSIAxisAddressTypeDEMAND_CHANNEL_TWO_SCALE,
480  RSIAxisAddressTypeDEMAND_CHANNEL_THREE_SCALE,
481  RSIAxisAddressTypeFRAME_INDEX,
483 };
484 
487  RSIMultiAxisAddressTypeMOTION_STATUS,
489 };
490 
492 enum class RSIFirmwareStatus {
493  RSIFirmwareStatusIN_COARSE_POSITION = RSICONSTANTFWStatusIN_COARSE_POSITION,
494  RSIFirmwareStatusAT_TARGET = RSICONSTANTFWStatusAT_TARGET,
495  RSIFirmwareStatusAT_VELOCITY = RSICONSTANTFWStatusAT_VELOCITY,
496  RSIFirmwareStatusIN_FINE_POSITION = RSICONSTANTFWStatusIN_FINE_POSITION,
497  RSIFirmwareStatusSETTLED = RSICONSTANTFWStatusSETTLED,
498  RSIFirmwareStatusDONE = RSICONSTANTFWStatusDONE,
499  RSIFirmwareStatusMOTION_START = RSICONSTANTFWStatusMOTION_START,
500  RSIFirmwareStatusPS_FAULT = RSICONSTANTFWStatusPS_FAULT,
501  RSIFirmwareStatusMS_FAULT = RSICONSTANTFWStatusMS_FAULT,
502  RSIFirmwareStatusOUT_OF_FRAMES = RSICONSTANTFWStatusOUT_OF_FRAMES,
503  RSIFirmwareStatusFRAME = RSICONSTANTFWStatusFRAME,
504  RSIFirmwareStatusRESET = RSICONSTANTFWStatusRESET,
505  RSIFirmwareStatusRESUME = RSICONSTANTFWStatusRESUME,
506  RSIFirmwareStatusPAUSE = RSICONSTANTFWStatusPAUSE,
507  RSIFirmwareStatusSTOP = RSICONSTANTFWStatusSTOP,
508  RSIFirmwareStatusESTOP = RSICONSTANTFWStatusESTOP,
509  RSIFirmwareStatusESTOP_ABORT = RSICONSTANTFWStatusESTOP_ABORT,
510  RSIFirmwareStatusESTOP_CMD_EQ_ACT = RSICONSTANTFWStatusESTOP_CMD_EQ_ACT,
511  RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP = RSICONSTANTFWStatusTRIGGERED_MODIFY_ESTOP,
512  RSIFirmwareStatusTRIGGERED_MODIFY = RSICONSTANTFWStatusTRIGGERED_MODIFY,
513  RSIFirmwareStatusABORT = RSICONSTANTFWStatusABORT,
514  RSIFirmwareStatusERROR_STATE = RSICONSTANTFWStatusERROR_STATE,
515  RSIFirmwareStatusDISABLED = RSICONSTANTFWStatusDISABLED,
516  RSIFirmwareStatusHOST = RSICONSTANTFWStatusHOST,
517  RSIFirmwareStatusREC_IDLE = RSICONSTANTFWStatusREC_IDLE,
518  RSIFirmwareStatusREC_HIGH = RSICONSTANTFWStatusREC_HIGH,
519  RSIFirmwareStatusREC_FULL = RSICONSTANTFWStatusREC_FULL,
520  RSIFirmwareStatusREC_RUNNING = RSICONSTANTFWStatusREC_RUNNING,
521  RSIFirmwareStatusCAM = RSICONSTANTFWStatusCAM,
522  RSIFirmwareStatusEXTERNAL = RSICONSTANTFWStatusEXTERNAL,
523  RSIFirmwareStatusTRIGGERED_MODIFY_ESTOP_ABORT = RSICONSTANTFWStatusTRIGGERED_MODIFY_ESTOP_ABORT,
524  RSIFirmwareStatusMOTOR_LIMIT = RSICONSTANTFWStatusMOTOR_LIMIT,
525 };
526 
528 enum class RSITrace {
529  RSITraceNONE = RSICONSTANTTraceNONE,
530  RSITraceFUNCTION_ENTRY = RSICONSTANTTraceFUNCTION_ENTRY,
531  RSITraceFUNCTION_RETURN = RSICONSTANTTraceFUNCTION_RETURN,
532  RSITraceMEMORY_ALLOC = RSICONSTANTTraceMEMORY_ALLOC,
533  RSITraceMEMORY_FREE = RSICONSTANTTraceMEMORY_FREE,
534  RSITraceMEMORY_GET = RSICONSTANTTraceMEMORY_GET,
535  RSITraceMEMORY_SET = RSICONSTANTTraceMEMORY_SET,
536  RSITraceVALIDATE = RSICONSTANTTraceVALIDATE,
537  RSITraceLOCK_GIVE = RSICONSTANTTraceLOCK_GIVE,
538  RSITraceLOCK_TAKE = RSICONSTANTTraceLOCK_TAKE,
539  RSITraceEVENT = RSICONSTANTTraceEVENT,
540  RSITraceCUSTOM = RSICONSTANTTraceCUSTOM,
541  RSITraceTIME = RSICONSTANTTraceTIME,
542  RSITraceTRAJECTORY_EXECUTOR = RSICONSTANTTraceTRAJECTORY_EXECUTOR,
543  RSITraceALL = RSICONSTANTTraceALL,
544 };
545 
548 {
549  RSILogicNEVER = RSICONSTANTFWLogicNEVER,
550  RSILogicSINGLE = RSICONSTANTFWLogicSINGLE,
551  RSILogicOR = RSICONSTANTFWLogicOR,
552  RSILogicAND = RSICONSTANTFWLogicAND,
553 };
554 
556 enum class RSINetworkState {
557  RSINetworkStateUNINITIALIZED = 256,
558  RSINetworkStateDISCOVERING,
559  RSINetworkStateDISCOVERED,
560  RSINetworkStatePREOPERATIONAL,
561  RSINetworkStateOPERATIONAL,
562  RSINetworkStateERROR,
563  RSINetworkStateSHUTDOWN,
565 };
566 
569  RSINetworkStartupMethodNORMAL,
570  RSINetworkStartupMethodPROBE_TOPOLOGY,
572 };
573 
576  RSINetworkStartModeOPERATIONAL = 0,
578 };
579 
582  RSINetworkStartErrorNETWORK_START_OK = 0,
583  RSINetworkStartErrorNIC_PASSED = 1,
584  RSINetworkStartErrorDEVICES_CONNECTED_POWERED = 2,
585  RSINetworkStartErrorDISCOVERED_ZERO_NODES = 3,
586  RSINetworkStartErrorGENERAL_DISCOVERY_FAILURE = 4,
587  RSINetworkStartErrorNETWORK_INIT_FAILURE = 5,
588  RSINetworkStartErrorINCORRECT_ENI_FORMAT = 6,
589 
590  //Restart RMP or Network
591  RSINetworkStartErrorSLAVE_COMM_FAILED = 7,
592  RSINetworkStartErrorMEMORY_CONFIG = 8,
593  RSINetworkStartErrorETHERCAT_MASTER_STARTUP_ERROR = 9,
594  RSINetworkStartErrorINTERNAL_RMP_ERROR = 10,
595  RSINetworkStartErrorINTIME_OPEN_ERROR = 11,
596 
597  //Device Configuration
598  RSINetworkStartErrorFAILED_TO_READ_PRODUCT_CODE = 12,
599  RSINetworkStartErrorFAILED_TO_READ_VENDOR_ID = 13,
600  RSINetworkStartErrorFAILED_TO_READ_REVISION = 14,
601  RSINetworkStartErrorFAILED_TO_READ_SERIAL_NO = 15,
603 };
604 
606 enum class RSINetworkType {
607  RSINetworkTypeSTRING = RSICONSTANTNetworkTypeSTRING,
608  RSINetworkTypeDUAL_STRING = RSICONSTANTNetworkTypeSTRING_DUAL,
609  RSINetworkTypeRING = RSICONSTANTNetworkTypeRING,
610 };
611 
614  RSIUserLimitTriggerTypeINVALID = RSICONSTANTUserLimitTriggerTypeINVALID,
615  RSIUserLimitTriggerTypeNONE = RSICONSTANTUserLimitTriggerTypeNONE,
616  RSIUserLimitTriggerTypeSINGLE_CONDITION = RSICONSTANTUserLimitTriggerTypeSINGLE_CONDITION,
617  RSIUserLimitTriggerTypeCONDITION_AND = RSICONSTANTUserLimitTriggerTypeCONDITION_AND,
618  RSIUserLimitTriggerTypeCONDITION_OR = RSICONSTANTUserLimitTriggerTypeCONDITION_OR,
619  RSIUserLimitTriggerTypeTIMER = RSICONSTANTUserLimitTriggerTypeTIMER,
620  RSIUserLimitTriggerTypeEND = RSICONSTANTUserLimitTriggerTypeEND,
621  RSIUserLimitTriggerTypeFIRST = RSICONSTANTUserLimitTriggerTypeFIRST,
622  RSIUserLimitTriggerTypeCOUNT = RSICONSTANTUserLimitTriggerTypeCOUNT,
623 };
624 
626 enum class RSIUserLimitLogic {
627  RSIUserLimitLogicEQ = RSICONSTANTUserLimitLogicEQ,
628  RSIUserLimitLogicNE = RSICONSTANTUserLimitLogicNE,
629  RSIUserLimitLogicGT = RSICONSTANTUserLimitLogicGT,
630  RSIUserLimitLogicGE = RSICONSTANTUserLimitLogicGE,
631  RSIUserLimitLogicLE = RSICONSTANTUserLimitLogicLE,
632  RSIUserLimitLogicLT = RSICONSTANTUserLimitLogicLT,
633  RSIUserLimitLogicABS_EQ = RSICONSTANTUserLimitLogicABS_EQ,
634  RSIUserLimitLogicABS_GT = RSICONSTANTUserLimitLogicABS_GT,
635  RSIUserLimitLogicABS_LE = RSICONSTANTUserLimitLogicABS_LE,
636 };
637 
639 enum class RSIDataType {
640  RSIDataTypeINVALID = RSICONSTANTDataTypeINVALID,
641  RSIDataTypeSHORT = RSICONSTANTDataTypeSHORT,
642  RSIDataTypeUSHORT = RSICONSTANTDataTypeUSHORT,
643  RSIDataTypeINT32 = RSICONSTANTDataTypeINT32,
644  RSIDataTypeUINT32 = RSICONSTANTDataTypeUINT32,
645  RSIDataTypeFLOAT = RSICONSTANTDataTypeFLOAT,
646  RSIDataTypeDOUBLE = RSICONSTANTDataTypeDOUBLE,
647  RSIDataTypeINT64 = RSICONSTANTDataTypeINT64,
648  RSIDataTypeUINT64 = RSICONSTANTDataTypeUINT64,
649  RSIDataTypeMASK32 = RSICONSTANTDataTypeMASK32,
650 };
651 
653 enum class RSINodeType : uint64_t {
654  RSINodeTypeINVALID = RSICONSTANTNodeLibNodeTypeINVALID,
655  RSINodeTypeUNKNOWN = RSICONSTANTNodeLibNodeTypeUNKNOWN,
656 
657  RSINodeTypeKOLLMORGEN_AKD = 0x0000006A00414B44,
658  RSINodeTypeKOLLMORGEN_S700 = 0x0000006A03000600,
659  RSINodeTypeKOLLMORGEN_AKT = 0x0000006A04602c22,
660  RSINodeTypeKOLLMORGEN_AKD_C = 0x0000006A414B4331,
661  RSINodeTypeKOLLMORGEN_AKD_N = 0x0000006A414B444E,
662  RSINodeTypeKOLLMORGEN_AKD2G_1AXIS = 0x0000006A11110100,
663  RSINodeTypeKOLLMORGEN_AKD2G_1AXIS_SIL3_BASIC = 0x0000006A11110200,
664  RSINodeTypeKOLLMORGEN_AKD2G_1AXIS_SIL3_ADV = 0x0000006A11110300,
665  RSINodeTypeKOLLMORGEN_AKD2G_2AXIS = 0x0000006A11210100,
666  RSINodeTypeKOLLMORGEN_AKD2G_2AXIS_SIL3_BASIC = 0x0000006A11210200,
667  RSINodeTypeKOLLMORGEN_AKD2G_2AXIS_SIL3_ADV = 0x0000006A11210300,
668  RSINodeTypeBECKHOFF_EL6910 = 0x000000021AFE3052,
669  RSINodeTypeBECKHOFF_EP3184 = 0x000000020C704052,
670  RSINodeTypeBECKHOFF_EP2338 = 0x0000000209224052,
671  RSINodeTypeBECKHOFF_EP7041 = 0x000000021b814052,
672  RSINodeTypeBECKHOFF_EK1100 = 0x00000002044c2c52,
673  RSINodeTypeBECKHOFF_EK1310 = 0x00000002051E2C52,
674  RSINodeTypeBECKHOFF_EL1008 = 0x0000000203f03052,
675  RSINodeTypeBECKHOFF_EL1088 = 0x0000000204403052,
676  RSINodeTypeBECKHOFF_EL2008 = 0x0000000207d83052,
677  RSINodeTypeBECKHOFF_EL2022 = 0x0000000207e63052,
678  RSINodeTypeBECKHOFF_EL2521 = 0x0000000209d93052,
679  RSINodeTypeBECKHOFF_EL2624 = 0x000000020A403052,
680  RSINodeTypeBECKHOFF_EL2634 = 0x000000020A4A3052,
681  RSINodeTypeBECKHOFF_EK1101 = 0x00000002044d2c52,
682  RSINodeTypeBECKHOFF_EL3002 = 0x000000020bba3052,
683  RSINodeTypeBECKHOFF_EL4032 = 0x000000020fc03052,
684  RSINodeTypeBECKHOFF_EL3104 = 0x000000020c203052,
685  RSINodeTypeBECKHOFF_EJ1100 = 0x00000002044C2852,
686  RSINodeTypeBECKHOFF_EJ1889 = 0x0000000207612852,
687  RSINodeTypeBECKHOFF_EJ2889 = 0x000000020B492852,
688  RSINodeTypeBECKHOFF_EJ3004 = 0x000000020BBC2852,
689  RSINodeTypeBECKHOFF_EJ4002 = 0x000000020FA22852,
690  RSINodeTypeBECKHOFF_EP4378 = 0x00000002111a4052,
691  RSINodeTypeBECKHOFF_EPP2338 = 0x0000000264765829,
692  RSINodeTypeBECKHOFF_EPP2316 = 0x00000002647656C9,
693  RSINodeTypeBECKHOFF_EL7041 = 0x000000021b813052,
694  RSINodeTypeBECKHOFF_BK1120 = 0x0000000204602c22,
695  RSINodeTypeAMC_DIGIFLEX = 0x000000BD012D0000,
696  RSINodeTypeAMC_DIGIFLEX2 = 0x000000BD012E0000,
697  RSINodeTypeAMC_DIGIFLEX3 = 0x000000BD012F0000,
698  RSINodeTypeAMC_DIGIFLEX4 = 0x000000BD01300000,
699  RSINodeTypeAMC_FlexPro = 0x000000BD01910000,
700  RSINodeTypeFESTO_CMMP = 0x0000001D502D4153,
701  RSINodeTypeFESTO_CMMT = 0x0000001D007B1a95,
702  RSINodeTypeSERVOTRONIX_FLEXIPRO = 0x000002E100000000,
703  RSINodeTypeMPC_FLEXIPRO = 0x0000067800000000,
704  RSINodeTypePANASONIC_MINASA5 = 0x0000066F511050A1,
705  RSINodeTypePANASONIC_MINASA6 = 0x0000066F60000000,
706  RSINodeTypeDELTA_ASDA = 0x000001DD10305070,
707  RSINodeTypeYASKAWA_SGDV = 0x0000053902200001,
708  RSINodeTypeYASKAWA_SGD7S = 0x0000053902200301,
709  RSINodeTypeSCHNEIDER_LXM32M = 0x0800005A00016440,
710  RSINodeTypeSCHNEIDER_LXM28E = 0x0800005A00096030,
711  RSINodeTypeSCHNEIDER_ILA = 0x0800005A000022DB,
712  RSINodeTypeBONFIGLIOLI_AGILE = 0x000000D500008000,
713  RSINodeTypeAMP_SS = 0x0000040400000001,
714  RSINodeTypeCOPLEY_XEC = 0x000000AB000011B0,
715  RSINodeTypeCOPLEY_TE2 = 0x000000AB000010F0,
716  RSINodeTypeCOPLEY_RGM = 0x000000AB00002020,
717  RSINodeTypeCOPLEY_XE2 = 0x000000AB000010B0,
718  RSINodeTypeCOPLEY_XEL = 0x000000AB00001000,
719  RSINodeTypeESTUN_PRONET = 0x0000060A00000001,
720  RSINodeTypeOPTOFORCE_SENSOR = 0x000005D426483052,
721  RSINodeTypeCREVIS_NA9286 = 0x0000029D4E419286,
722  RSINodeTypeESD_ECXDIO8 = 0x0000001700000004,
723  RSINodeTypePROMESS_DSC = 0x000001902FB52E56,
724  RSINodeTypeHMS_ANYBUS = 0x0000001B0000003D,
725  RSINodeTypeTECO_JSDG2E = 0x0000081B47322D45,
726  RSINodeTypeELMO_GOLD = 0x0000009A00030924,
727  RSINodeTypeELMO_DUET = 0x0000009A00030925,
728  RSINodeTypeELMO_PLATINUM = 0x0000009A01100002,
729  RSINodeTypeKEYENCE_NUEC1 = 0x0000054100002500,
730  RSINodeTypeSMC_EX260 = 0x0000011401000001,
731  RSINodeTypeSMC_EX600 = 0x0000011401000005,
732  RSINodeTypeAMAX_4830 = 0x000013FE00004830,
733  RSINodeTypeBONFIGLIOLI_ACU540 = 0x000000D500004000,
734  RSINodeTypeOMRON_1SN01H = 0x00000083000000AE,
735  RSINodeTypeOMRON_1SN01L = 0x00000083000000AB,
736  RSINodeTypeOMRON_1SN02H = 0x00000083000000AF,
737  RSINodeTypeOMRON_1SN02L = 0x00000083000000AC,
738  RSINodeTypeOMRON_1SN04H = 0x00000083000000B0,
739  RSINodeTypeOMRON_1SN04L = 0x00000083000000AD,
740  RSINodeTypeOMRON_1SN06F = 0x00000083000000BE,
741  RSINodeTypeOMRON_1SN08H = 0x00000083000000B1,
742  RSINodeTypeOMRON_1SN10F = 0x00000083000000B6,
743  RSINodeTypeOMRON_1SN10H = 0x00000083000000B2,
744  RSINodeTypeOMRON_1SN15F = 0x00000083000000B7,
745  RSINodeTypeOMRON_1SN15H = 0x00000083000000B3,
746  RSINodeTypeOMRON_1SN20F = 0x00000083000000B8,
747  RSINodeTypeOMRON_1SN20H = 0x00000083000000B4,
748  RSINodeTypeOMRON_1SN30F = 0x00000083000000B9,
749  RSINodeTypeOMRON_1SN30H = 0x00000083000000B5,
750  RSINodeTypeMITSUBISHI_MR_J4_TM = 0x00000A1E00000201,
751  RSINodeTypeMITSUBISHI_MR_J5_TM = 0x00000A1E00000304,
752  RSINodeTypeMITSUBISHI_MR_J5W2 = 0x00000A1E00000302,
753  RSINodeTypeMITSUBISHI_MR_JET = 0x00000A1E00000305,
754  RSINodeTypeLENZE_I550 = 0x0000003B69055000,
755  RSINodeTypeLENZE_I700_SINGLE = 0x0000003B69070001,
756  RSINodeTypeLENZE_I700_DOUBLE = 0x0000003B69070002,
757  RSINodeTypeINVT_DA200 = 0x0000061600000000,
758  RSINodeTypeABB_MICROFLEX = 0x000000B7000002BC,
759  RSINodeTypePARKER_PD = 0x0900008900010001,
760  RSINodeTypePARKER_FL20C = 0x0100008900000001,
761  RSINodeTypeHANS_DMODULE = 0x0000001A50440200,
762  RSINodeTypeTPM_STP_K121 = 0x000006AB4b121000,
763  RSINodeTypeTPM_SRV_K221 = 0x000006AB31221100,
764  RSINodeTypeORIENTAL_NETC01 = 0x000002BE00001397,
765  RSINodeTypeFASTECH_ETHERCAT = 0x0FA0000000001002,
766  RSINodeTypeFASTECH_ETHERCAT_ALL = 0x0FA0000000001007,
767  RSINodeTypeFASTECH_ETHERCAT_MINI = 0x0FA0000000001006,
768  RSINodeTypeDELTA_5500 = 0x000001DD00005500,
769  RSINodeTypeDELTA_6002 = 0x000001DD00006002,
770  RSINodeTypeDELTA_7062 = 0x000001DD00007062,
771  RSINodeTypeDELTA_70A2 = 0x000001DD000070A2,
772  RSINodeTypeDELTA_9144 = 0x000001DD00009144,
773  RSINodeTypeDELTA_8124 = 0x000001DD00008124,
774  RSINodeTypeDELTA_5621 = 0x000001DD00005621,
775  RSINodeTypeMOONS_SSDC06_EC = 0x0000016800000004,
776  RSINodeTypeMOONS_STF06_EC = 0x0000016800000002,
777  RSINodeTypeFUJI_ALPHA7 = 0x0000025E00010002,
778  RSINodeTypeBR_X20 = 0x0000006C0000AC23,
779  RSINodeTypeSICK_FLEXI_SOFT_SAFETY = 0x0100005600002301,
780  RSINodeTypeNEXCOM_NEIO1812 = 0x0000075200001812,
781  RSINodeTypeALICAT_MASS_FLOW_CONTROLLER = 0x0000093A00000005,
782  RSINodeTypeHIWIN_EDF1 = 0x0000AAAA00000005,
783  RSINodeTypeLEADSHINE_CS3E = 0x0000432100000100,
784  RSINodeTypeINGENIA_CAPITAN_XCR = 0x0000029C03731001,
785  RSINodeTypeCONTROLTECHNIQUES_753 = 0x000000F901031102,
786  RSINodeTypeLINMOT_DRIVE = 0x4C4E54490096096F,
787  RSINodeTypeTECHNOSOFT_IPOS8015 = 0x000001A3015F5A2D,
788  RSINodeTypeJENNYSCIENCE_XENAX = 0x0000055700007509,
789  RSINodeTypeNANOTEC_PD4 = 0x0000026C0000003C,
790 };
791 
793 enum class RSIState {
794  RSIStateIDLE = RSICONSTANTStateIDLE,
795  RSIStateMOVING = RSICONSTANTStateMOVING,
796  RSIStateSTOPPING = RSICONSTANTStateSTOPPING,
797  RSIStateSTOPPED = RSICONSTANTStateSTOPPED,
798  RSIStateSTOPPING_ERROR = RSICONSTANTStateSTOPPING_ERROR,
799  RSIStateERROR = RSICONSTANTStateERROR,
800 };
801 
804  RSIMotorDedicatedInAMP_FAULT = RSICONSTANTMotorDedicatedInAMP_FAULT,
805  RSIMotorDedicatedInBRAKE_APPLIED = RSICONSTANTMotorDedicatedInBRAKE_APPLIED,
806  RSIMotorDedicatedInHOME = RSICONSTANTMotorDedicatedInHOME,
807  RSIMotorDedicatedInLIMIT_HW_POS = RSICONSTANTMotorDedicatedInLIMIT_HW_POS,
808  RSIMotorDedicatedInLIMIT_HW_NEG = RSICONSTANTMotorDedicatedInLIMIT_HW_NEG,
809  RSIMotorDedicatedInINDEX = RSICONSTANTMotorDedicatedInINDEX_PRIMARY,
810  RSIMotorDedicatedInINDEX_SECONDARY = RSICONSTANTMotorDedicatedInINDEX_SECONDARY,
811  RSIMotorDedicatedInFEEDBACK_FAULT = RSICONSTANTMotorDedicatedInFEEDBACK_FAULT,
812  RSIMotorDedicatedInCAPTURED = RSICONSTANTMotorDedicatedInDRIVE_CAPTURED,
813  RSIMotorDedicatedInHALL_A = RSICONSTANTMotorDedicatedInHALL_A,
814  RSIMotorDedicatedInHALL_B = RSICONSTANTMotorDedicatedInHALL_B,
815  RSIMotorDedicatedInHALL_C = RSICONSTANTMotorDedicatedInHALL_C,
816  RSIMotorDedicatedInAMP_ACTIVE = RSICONSTANTMotorDedicatedInAMP_ACTIVE,
817  RSIMotorDedicatedInWARNING = RSICONSTANTMotorDedicatedInDRIVE_WARNING,
818  RSIMotorDedicatedInDRIVE_STATUS_9 = RSICONSTANTMotorDedicatedInDRIVE_STATUS_9,
819  RSIMotorDedicatedInDRIVE_STATUS_10 = RSICONSTANTMotorDedicatedInDRIVE_STATUS_10,
820  RSIMotorDedicatedInFEEDBACK_FAULT_PRIMARY = RSICONSTANTMotorDedicatedInFEEDBACK_FAULT_PRIMARY,
821  RSIMotorDedicatedInFEEDBACK_FAULT_SECONDARY = RSICONSTANTMotorDedicatedInFEEDBACK_FAULT_SECONDARY,
822 };
823 
826  RSIMotorDedicatedOutAMP_ENABLE = RSICONSTANTMotorDedicatedOutAMP_ENABLE,
827  RSIMotorDedicatedOutBRAKE_RELEASE = RSICONSTANTMotorDedicatedOutBRAKE_RELEASE,
828 };
829 
831 enum class RSIMotorGeneralIo {
832  RSIMotorGeneralIo0 = RSICONSTANTMotorGeneralIo0,
833  RSIMotorGeneralIo1 = RSICONSTANTMotorGeneralIo1,
834  RSIMotorGeneralIo2 = RSICONSTANTMotorGeneralIo2,
835  RSIMotorGeneralIo3 = RSICONSTANTMotorGeneralIo3,
836  RSIMotorGeneralIo4 = RSICONSTANTMotorGeneralIo4,
837  RSIMotorGeneralIo5 = RSICONSTANTMotorGeneralIo5,
838  RSIMotorGeneralIo6 = RSICONSTANTMotorGeneralIo6,
839  RSIMotorGeneralIo7 = RSICONSTANTMotorGeneralIo7,
840  RSIMotorGeneralIo8 = RSICONSTANTMotorGeneralIo8,
841  RSIMotorGeneralIo9 = RSICONSTANTMotorGeneralIo9,
842  RSIMotorGeneralIo10 = RSICONSTANTMotorGeneralIo10,
843  RSIMotorGeneralIo11 = RSICONSTANTMotorGeneralIo11,
844  RSIMotorGeneralIo12 = RSICONSTANTMotorGeneralIo12,
845  RSIMotorGeneralIo13 = RSICONSTANTMotorGeneralIo13,
846  RSIMotorGeneralIo14 = RSICONSTANTMotorGeneralIo14,
847  RSIMotorGeneralIo15 = RSICONSTANTMotorGeneralIo15,
848  RSIMotorGeneralIo16 = RSICONSTANTMotorGeneralIo16,
849  RSIMotorGeneralIo17 = RSICONSTANTMotorGeneralIo17,
850  RSIMotorGeneralIo18 = RSICONSTANTMotorGeneralIo18,
851  RSIMotorGeneralIo19 = RSICONSTANTMotorGeneralIo19,
852  RSIMotorGeneralIo20 = RSICONSTANTMotorGeneralIo20,
853  RSIMotorGeneralIo21 = RSICONSTANTMotorGeneralIo21,
854  RSIMotorGeneralIo22 = RSICONSTANTMotorGeneralIo22,
855  RSIMotorGeneralIo23 = RSICONSTANTMotorGeneralIo23,
856  RSIMotorGeneralIo24 = RSICONSTANTMotorGeneralIo24,
857  RSIMotorGeneralIo25 = RSICONSTANTMotorGeneralIo25,
858  RSIMotorGeneralIo26 = RSICONSTANTMotorGeneralIo26,
859  RSIMotorGeneralIo27 = RSICONSTANTMotorGeneralIo27,
860  RSIMotorGeneralIo28 = RSICONSTANTMotorGeneralIo28,
861  RSIMotorGeneralIo29 = RSICONSTANTMotorGeneralIo29,
862  RSIMotorGeneralIo30 = RSICONSTANTMotorGeneralIo30,
863  RSIMotorGeneralIo31 = RSICONSTANTMotorGeneralIo31,
864 };
865 
867 enum class RSIMotorLimitType {
868  RSIMotorLimitTypeAMP_FAULT = RSICONSTANTMotorLimitTypeAMP_FAULT,
869  RSIMotorLimitTypeAMP_WARNING = RSICONSTANTMotorLimitTypeAMP_WARNING,
870  RSIMotorLimitTypeFEEDBACK_FAULT = RSICONSTANTMotorLimitTypeFEEDBACK_FAULT,
871  RSIMotorLimitTypeERROR = RSICONSTANTMotorLimitTypeERROR,
872  RSIMotorLimitTypeTORQUE = RSICONSTANTMotorLimitTypeTORQUE,
873  RSIMotorLimitTypeHW_NEG = RSICONSTANTMotorLimitTypeHW_NEG,
874  RSIMotorLimitTypeHW_POS = RSICONSTANTMotorLimitTypeHW_POS,
875  RSIMotorLimitTypeSW_NEG = RSICONSTANTMotorLimitTypeSW_NEG,
876  RSIMotorLimitTypeSW_POS = RSICONSTANTMotorLimitTypeSW_POS,
877 };
878 
880 enum class RSIEventType {
881  RSIEventTypeINVALID = RSICONSTANTEventTypeINVALID,
882  RSIEventTypeNONE = RSICONSTANTEventTypeNONE,
883  RSIEventTypeAMP_FAULT = RSICONSTANTEventTypeAMP_FAULT,
884  RSIEventTypeAMP_WARNING = RSICONSTANTEventTypeAMP_WARNING,
885  RSIEventTypeFEEDBACK_FAULT = RSICONSTANTEventTypeFEEDBACK_FAULT,
886  RSIEventTypeLIMIT_ERROR = RSICONSTANTEventTypeLIMIT_ERROR,
887  RSIEventTypeLIMIT_TORQUE = RSICONSTANTEventTypeLIMIT_TORQUE,
888  RSIEventTypeLIMIT_HW_NEG = RSICONSTANTEventTypeLIMIT_HW_NEG,
889  RSIEventTypeLIMIT_HW_POS = RSICONSTANTEventTypeLIMIT_HW_POS,
890  RSIEventTypeLIMIT_SW_NEG = RSICONSTANTEventTypeLIMIT_SW_NEG,
891  RSIEventTypeLIMIT_SW_POS = RSICONSTANTEventTypeLIMIT_SW_POS,
892  RSIEventTypeMOTION_DONE = RSICONSTANTEventTypeMOTION_DONE,
893  RSIEventTypeMOTION_START = RSICONSTANTEventTypeMOTION_START,
894  RSIEventTypeMOTION_AT_VELOCITY = RSICONSTANTEventTypeMOTION_AT_VELOCITY,
895  RSIEventTypeMOTION_OUT_OF_FRAMES = RSICONSTANTEventTypeMOTION_OUT_OF_FRAMES,
896  RSIEventTypeMOTION_LOAD_FRAMES = RSICONSTANTEventTypeMOTION_LOAD_FRAMES,
897  RSIEventTypeNEAR_TARGET = RSICONSTANTEventTypeNEAR_TARGET,
898  RSIEventTypeSETTLED = RSICONSTANTEventTypeSETTLED,
899  RSIEventTypeAT_TARGET = RSICONSTANTEventTypeAT_TARGET,
900  RSIEventTypeFRAME = RSICONSTANTEventTypeFRAME,
901  RSIEventTypeRECORDER_HIGH = RSICONSTANTEventTypeRECORDER_HIGH,
902  RSIEventTypeRECORDER_FULL = RSICONSTANTEventTypeRECORDER_FULL,
903  RSIEventTypeRECORDER_DONE = RSICONSTANTEventTypeRECORDER_DONE,
904  RSIEventTypeSEQUENCE = RSICONSTANTEventTypeSEQUENCE,
905  RSIEventTypeSEQUENCE_LOAD = RSICONSTANTEventTypeSEQUENCE_LOAD,
906  RSIEventTypeCONTROL_HOST_PROCESS_TIME_EXCEEDED = RSICONSTANTEventTypeCONTROL_HOST_PROCESS_TIME_EXCEEDED,
907  RSIEventTypeCONTROL_FAN = RSICONSTANTEventTypeCONTROL_FAN,
908  RSIEventTypeSYNQNET_DEAD = RSICONSTANTEventTypeSYNQNET_DEAD,
909  RSIEventTypeSYNQNET_RX_FAILURE = RSICONSTANTEventTypeSYNQNET_RX_FAILURE,
910  RSIEventTypeSYNQNET_TX_FAILURE = RSICONSTANTEventTypeSYNQNET_TX_FAILURE,
911  RSIEventTypeSYNQNET_NODE_FAILURE = RSICONSTANTEventTypeSYNQNET_NODE_FAILURE,
912  RSIEventTypeSYNQNET_RECOVERY = RSICONSTANTEventTypeSYNQNET_RECOVERY,
913  RSIEventTypeSQNODE_IO_ABORT = RSICONSTANTEventTypeSQNODE_IO_ABORT,
914  RSIEventTypeSQNODE_NODE_DISABLE = RSICONSTANTEventTypeSQNODE_NODE_DISABLE,
915  RSIEventTypeSQNODE_NODE_ALARM = RSICONSTANTEventTypeSQNODE_NODE_ALARM,
916  RSIEventTypeSQNODE_ANALOG_POWER_FAULT = RSICONSTANTEventTypeSQNODE_ANALOG_POWER_FAULT,
917  RSIEventTypeSQNODE_USER_FAULT = RSICONSTANTEventTypeSQNODE_USER_FAULT,
918  RSIEventTypeSQNODE_NODE_FAILURE = RSICONSTANTEventTypeSQNODE_NODE_FAILURE,
919  RSIEventTypeSQNODE_IO_FAULT = RSICONSTANTEventTypeSQNODE_IO_FAULT,
920  RSIEventTypeUSER_LIMIT = RSICONSTANTEventTypeUSER_LIMIT,
921  RSIEventTypeCAPTURE = RSICONSTANTEventTypeCAPTURE,
922  RSIEventTypeHOME = RSICONSTANTEventTypeEND,
924 };
925 
927 enum class RSISource {
928  RSISourceAMP_FAULT = (decltype(RSICONSTANTEventTypeAMP_FAULT))RSIEventType::RSIEventTypeAMP_FAULT,
929  RSISourceHOME = (decltype(RSICONSTANTEventTypeEND))RSIEventType::RSIEventTypeHOME,
930  RSISourceLIMIT_ERROR = (decltype(RSICONSTANTEventTypeLIMIT_ERROR))RSIEventType::RSIEventTypeLIMIT_ERROR,
931  RSISourceLIMIT_HW_NEG = (decltype(RSICONSTANTEventTypeLIMIT_HW_NEG))RSIEventType::RSIEventTypeLIMIT_HW_NEG,
932  RSISourceLIMIT_HW_POS = (decltype(RSICONSTANTEventTypeLIMIT_HW_POS))RSIEventType::RSIEventTypeLIMIT_HW_POS,
933  RSISourceLIMIT_SW_NEG = (decltype(RSICONSTANTEventTypeLIMIT_SW_NEG))RSIEventType::RSIEventTypeLIMIT_SW_NEG,
934  RSISourceLIMIT_SW_POS = (decltype(RSICONSTANTEventTypeLIMIT_SW_POS))RSIEventType::RSIEventTypeLIMIT_SW_POS,
935  RSISourceFEEDBACK_FAULT = (decltype(RSICONSTANTEventTypeFEEDBACK_FAULT))RSIEventType::RSIEventTypeFEEDBACK_FAULT,
936  RSISourceOUT_OF_FRAMES = (decltype(RSICONSTANTEventTypeMOTION_OUT_OF_FRAMES))RSIEventType::RSIEventTypeMOTION_OUT_OF_FRAMES,
938 };
939 
941 enum class RSIWait {
942  RSIWaitFOREVER = RSICONSTANTWaitFOREVER,
943  RSIWaitPOLL = RSICONSTANTWaitPOLL,
944  RSIWaitMSEC = RSICONSTANTWaitMSEC,
945 };
946 
948 enum class RSIMotionType {
949  RSIMotionTypePT = RSICONSTANTMotionTypePT,
950  RSIMotionTypeBSPLINE = RSICONSTANTMotionTypeBSPLINE,
951  RSIMotionTypeSPLINE = RSICONSTANTMotionTypeSPLINE,
952  RSIMotionTypeBESSEL = RSICONSTANTMotionTypeBESSEL,
953  RSIMotionTypeBSPLINE2 = RSICONSTANTMotionTypeBSPLINE2,
954  RSIMotionTypePVT = RSICONSTANTMotionTypePVT,
955 };
956 
958 enum class RSIPathPlanType {
959  RSIPathPlanTypeTRAPEZOIDAL = 0,
961 };
962 
964 enum class RSIMotionAttrMask {
965 
966  RSIMotionAttrMaskBEHAVIOR = 1 << 1,
967  RSIMotionAttrMaskDELAY = 1 << 2,
968  RSIMotionAttrMaskRELATIVE = 1 << 3,
969  RSIMotionAttrMaskID = 1 << 4,
970  RSIMotionAttrMaskNO_HANDSHAKE = 1 << 5,
971  RSIMotionAttrMaskEXPECTED_AXES = 1 << 6,
972  RSIMotionAttrMaskHOLD = 1 << 7,
973  RSIMotionAttrMaskOUTPUT = 1 << 8,
974  RSIMotionAttrMaskAUTOSTART_NOTIFY = 1 << 9,
975  RSIMotionAttrMaskNO_WAIT = 1 << 10,
976  RSIMotionAttrMaskELEMENT_ID = 1 << 11,
977  RSIMotionAttrMaskRETAIN = 1 << 12,
978  RSIMotionAttrMaskEMPTY_COUNT = 1 << 13,
979  RSIMotionAttrMaskLOW_COUNT = 1 << 14,
980 
981  RSIMotionAttrMaskAPPEND = 1 << 15,
982  RSIMotionAttrMaskAUTO_START = 1 << 16,
983  RSIMotionAttrMaskSYNC_END = 1 << 17,
984  RSIMotionAttrMaskSYNC_START = 1 << 18,
985 
986  RSIMotionAttrMaskREPEAT = 1 << 19,
987  RSIMotionAttrMaskMASTER_START = 1 << 20,
988  RSIMotionAttrMaskNO_BACKTRACK = 1 << 21,
989  RSIMotionAttrMaskNO_BACKTRACK_HOLD = 1 << 22,
990  // see below RSIMotionAttrMaskALL = RSICONSTANTMotionAttrMaskALL,
991 
992  // RSICONSTANT, now RSICONSTANT
993  RSIMotionAttrMaskEVENT = 1 << 23,
994  RSIMotionAttrMaskFINAL_VEL = 1 << 24,
995  RSIMotionAttrMaskNO_REVERSAL = 1 << 25,
996 
997 };
998 
1000 enum class RSIMotionHoldType {
1001  RSIMotionHoldTypeNONE = RSICONSTANTMotionHoldTypeNONE,
1002  RSIMotionHoldTypeGATE = RSICONSTANTMotionHoldTypeGATE,
1003  RSIMotionHoldTypeMOTOR_DEDICATED_IN = RSICONSTANTMotionHoldTypeMOTOR_DEDICATED_IN,
1004  RSIMotionHoldTypeMOTOR_DEDICATED_OUT = RSICONSTANTMotionHoldTypeMOTOR_DEDICATED_OUT,
1005  RSIMotionHoldTypeMOTOR_GENERAL_IN = RSICONSTANTMotionHoldTypeMOTOR_GENERAL_IN,
1006  RSIMotionHoldTypeMOTOR_GENERAL_OUT = RSICONSTANTMotionHoldTypeMOTOR_GENERAL_OUT,
1007  RSIMotionHoldTypeAXIS_COMMAND_POSITION = RSICONSTANTMotionHoldTypeAXIS_COMMAND_POSITION,
1008  RSIMotionHoldTypeAXIS_ACTUAL_POSITION = RSICONSTANTMotionHoldTypeAXIS_ACTUAL_POSITION,
1009  RSIMotionHoldTypeCUSTOM = RSICONSTANTMotionHoldTypeCUSTOM,
1010 };
1011 
1014  RSIMotionAttrOutputTypeNONE,
1015  RSIMotionAttrOutputTypeMOTOR,
1017 };
1018 
1020 enum class RSIAction {
1021  RSIActionNONE = RSICONSTANTActionNONE,
1022  RSIActionSTOP = RSICONSTANTActionSTOP,
1023  RSIActionE_STOP = RSICONSTANTActionE_STOP,
1024  RSIActionE_STOP_ABORT = RSICONSTANTActionE_STOP_ABORT,
1025  RSIActionE_STOP_MODIFY = RSICONSTANTActionE_STOP_MODIFY,
1026  RSIActionE_STOP_MODIFY_ABORT = RSICONSTANTActionE_STOP_MODIFY_ABORT,
1027  RSIActionE_STOP_CMD_EQ_ACT = RSICONSTANTActionE_STOP_CMD_EQ_ACT,
1028  RSIActionABORT = RSICONSTANTActionABORT,
1029  RSIActionDONE = RSICONSTANTActionDONE,
1030  RSIActionSTART = RSICONSTANTActionSTART,
1031  RSIActionRESUME = RSICONSTANTActionRESUME,
1032  RSIActionRESET = RSICONSTANTActionRESET,
1033  RSIActionCANCEL_REPEAT = RSICONSTANTActionCANCEL_REPEAT,
1034  RSIActionTRIGGERED_MODIFY = RSICONSTANTActionTRIGGERED_MODIFY,
1035 };
1036 
1039  RSIAxisPositionInputFIRST = 0,
1041 };
1042 
1044 enum class RSIAxisGantryType {
1045  RSIAxisGantryTypeNONE = RSICONSTANTAxisGantryTypeNONE,
1046  RSIAxisGantryTypeADD = RSICONSTANTAxisGantryTypeLINEAR,
1047  RSIAxisGantryTypeSUBTRACT = RSICONSTANTAxisGantryTypeTWIST,
1048 };
1049 
1052  RSIMotorFeedbackFaultPRIMARY = RSICONSTANTMotorFeedbackFaultPRIMARY,
1053  RSIMotorFeedbackFaultSECONDARY = RSICONSTANTMotorFeedbackFaultSECONDARY,
1054  RSIMotorFeedbackFaultPRIMARY_OR_SECONDARY = RSICONSTANTMotorFeedbackFaultPRIMARY_OR_SECONDARY,
1055 };
1056 
1058 enum class RSIMotorFeedback {
1059  RSIMotorFeedbackPRIMARY = RSICONSTANTMotorFeedbackInputPRIMARY,
1060  RSIMotorFeedbackSECONDARY = RSICONSTANTMotorFeedbackInputSECONDARY,
1061 };
1062 
1065  RSIFilterAlgorithmPID = RSICONSTANTFilterAlgorithmPID,
1066  RSIFilterAlgorithmPIV = RSICONSTANTFilterAlgorithmPIV,
1067  RSIFilterAlgorithmNONE = RSICONSTANTFilterAlgorithmNONE,
1068  RSIFilterAlgorithmPIV1 = RSICONSTANTFilterAlgorithmPIV1,
1069  RSIFilterAlgorithmUSER = RSICONSTANTFilterAlgorithmUSER,
1070 };
1071 
1074  RSIFilterGainPIDCoeffGAIN_PROPORTIONAL = 0,
1075  RSIFilterGainPIDCoeffGAIN_INTEGRAL = 1,
1076  RSIFilterGainPIDCoeffGAIN_DERIVATIVE = 2,
1077  RSIFilterGainPIDCoeffFEEDFORWARD_POSITION = 5,
1078  RSIFilterGainPIDCoeffFEEDFORWARD_VELOCITY = 6,
1079  RSIFilterGainPIDCoeffFEEDFORWARD_ACCELERATION = 7,
1080  RSIFilterGainPIDCoeffFEEDFORWARD_FRICTION = 8,
1081  RSIFilterGainPIDCoeffDRATE = 9,
1082  RSIFilterGainPIDCoeffINTEGRATIONMAX_MOVING = 11,
1083  RSIFilterGainPIDCoeffINTEGRATIONMAX_REST = 12,
1084  RSIFilterGainPIDCoeffOUTPUT_LIMITHIGH = 14,
1085  RSIFilterGainPIDCoeffOUTPUT_LIMITLOW = 15,
1086  RSIFilterGainPIDCoeffOUTPUT_VELOCITYLIMITHIGH = 16,
1087  RSIFilterGainPIDCoeffOUTPUT_VELOCITYLIMITLOW = 17,
1088  RSIFilterGainPIDCoeffOUTPUT_OFFSET = 18,
1089  RSIFilterGainPIDCoeffNOISE_POSITIONFFT = 19,
1091 };
1092 
1095  RSIFilterGainPIVCoeffGAINPOSITION_PROPORTIONAL = 0,
1096  RSIFilterGainPIVCoeffGAINPOSITION_INTEGRAL = 1,
1097  RSIFilterGainPIVCoeffGAINVELOCITY_PROPORTIONAL = 3,
1098  RSIFilterGainPIVCoeffGAINVELOCITY_INTEGRAL = 4,
1099  RSIFilterGainPIVCoeffFEEDFORWARD_POSITION = 5,
1100  RSIFilterGainPIVCoeffFEEDFORWARD_VELOCITY = 6,
1101  RSIFilterGainPIVCoeffFEEDFORWARD_ACCELERATION = 7,
1102  RSIFilterGainPIVCoeffFEEDFORWARD_FRICTION = 8,
1103  RSIFilterGainPIVCoeffSMOOTHINGFILTER_GAIN = 10,
1104  RSIFilterGainPIVCoeffINTEGRATIONMAX_MOVING = 11,
1105  RSIFilterGainPIVCoeffINTEGRATIONMAX_REST = 12,
1106  RSIFilterGainPIVCoeffGAINVELOCITY_INTEGRATIONMAX = 13,
1107  RSIFilterGainPIVCoeffOUTPUT_LIMITHIGH = 14,
1108  RSIFilterGainPIVCoeffOUTPUT_LIMITLOW = 15,
1109  RSIFilterGainPIVCoeffOUTPUT_OFFSET = 18,
1110  RSIFilterGainPIVCoeffNOISE_FILTERFFT = 19,
1112 };
1113 
1116  RSIFilterGainIndexNO_MOTION = RSICONSTANTFilterGainIndexNO_MOTION,
1117  RSIFilterGainIndexACCEL = RSICONSTANTFilterGainIndexACCEL,
1118  RSIFilterGainIndexDECEL = RSICONSTANTFilterGainIndexDECEL,
1119  RSIFilterGainIndexVELOCITY = RSICONSTANTFilterGainIndexVELOCITY,
1120 };
1121 
1123 enum class RSIAxisMasterType {
1124  RSIAxisMasterTypeMOTOR_FEEDBACK_PRIMARY = RSICONSTANTAxisMasterTypeMOTOR_FEEDBACK_PRIMARY,
1125  RSIAxisMasterTypeMOTOR_FEEDBACK_SECONDARY = RSICONSTANTAxisMasterTypeMOTOR_FEEDBACK_SECONDARY,
1126  RSIAxisMasterTypeAXIS_COMMAND_POSITION = RSICONSTANTAxisMasterTypeAXIS_COMMAND_POSITION,
1127  RSIAxisMasterTypeAXIS_ACTUAL_POSITION = RSICONSTANTAxisMasterTypeAXIS_ACTUAL_POSITION,
1128  RSIAxisMasterTypeADDRESS = RSICONSTANTAxisMasterTypeCUSTOM,
1129  RSIAxisMasterTypeNONE = RSICONSTANTAxisMasterTypeNONE,
1130 };
1131 
1133 enum class RSIMotorIoType {
1134  RSIMotorIoTypeOUTPUT = RSICONSTANTMotorIoTypeOUTPUT,
1135  RSIMotorIoTypePULSE_A = RSICONSTANTMotorIoTypePULSE_A,
1136  RSIMotorIoTypePULSE_B = RSICONSTANTMotorIoTypePULSE_B,
1137  RSIMotorIoTypeCOMPARE_0 = RSICONSTANTMotorIoTypeCOMPARE_0,
1138  RSIMotorIoTypeCOMPARE_1 = RSICONSTANTMotorIoTypeCOMPARE_1,
1139  RSIMotorIoTypeBRAKE = RSICONSTANTMotorIoTypeBRAKE,
1140  RSIMotorIoTypeSOURCE6 = RSICONSTANTMotorIoTypeSOURCE6,
1141  RSIMotorIoTypeSSI_CLOCK0 = RSICONSTANTMotorIoTypeSSI_CLOCK0,
1142  RSIMotorIoTypeSSI_CLOCK1 = RSICONSTANTMotorIoTypeSSI_CLOCK1,
1143  RSIMotorIoTypeSOURCE9 = RSICONSTANTMotorIoTypeSOURCE9,
1144  RSIMotorIoTypeSOURCE10 = RSICONSTANTMotorIoTypeSOURCE10,
1145  RSIMotorIoTypeSOURCE11 = RSICONSTANTMotorIoTypeSOURCE11,
1146  RSIMotorIoTypeSOURCE12 = RSICONSTANTMotorIoTypeSOURCE12,
1147  RSIMotorIoTypeSOURCE13 = RSICONSTANTMotorIoTypeSOURCE13,
1148  RSIMotorIoTypeSOURCE14 = RSICONSTANTMotorIoTypeSOURCE14,
1149  RSIMotorIoTypeSOURCE15 = RSICONSTANTMotorIoTypeSOURCE15,
1150  RSIMotorIoTypeINPUT = RSICONSTANTMotorIoTypeINPUT,
1151 };
1152 
1155  RSIMotorStepperPulseA,
1157 };
1158 
1161  RSIMotorStepperPulseTypeSTEP = RSICONSTANTMotorStepperPulseTypeSTEP,
1162  RSIMotorStepperPulseTypeDIR = RSICONSTANTMotorStepperPulseTypeDIR,
1163  RSIMotorStepperPulseTypeCW = RSICONSTANTMotorStepperPulseTypeCW,
1164  RSIMotorStepperPulseTypeCCW = RSICONSTANTMotorStepperPulseTypeCCW,
1165  RSIMotorStepperPulseTypeQUADA = RSICONSTANTMotorStepperPulseTypeQUADA,
1166  RSIMotorStepperPulseTypeQUADB = RSICONSTANTMotorStepperPulseTypeQUADB,
1167 };
1168 
1171  RSIMotorIoTypeMaskOUTPUT = RSICONSTANTMotorIoTypeMaskOUTPUT,
1172  RSIMotorIoTypeMaskSOURCE1 = RSICONSTANTMotorIoTypeMaskSOURCE1,
1173  RSIMotorIoTypeMaskSOURCE2 = RSICONSTANTMotorIoTypeMaskSOURCE2,
1174  RSIMotorIoTypeMaskSOURCE3 = RSICONSTANTMotorIoTypeMaskSOURCE3,
1175  RSIMotorIoTypeMaskSOURCE4 = RSICONSTANTMotorIoTypeMaskSOURCE4,
1176  RSIMotorIoTypeMaskSOURCE5 = RSICONSTANTMotorIoTypeMaskSOURCE5,
1177  RSIMotorIoTypeMaskSOURCE6 = RSICONSTANTMotorIoTypeMaskSOURCE6,
1178  RSIMotorIoTypeMaskSOURCE7 = RSICONSTANTMotorIoTypeMaskSOURCE7,
1179  RSIMotorIoTypeMaskSOURCE8 = RSICONSTANTMotorIoTypeMaskSOURCE8,
1180  RSIMotorIoTypeMaskSOURCE9 = RSICONSTANTMotorIoTypeMaskSOURCE9,
1181  RSIMotorIoTypeMaskSOURCE10 = RSICONSTANTMotorIoTypeMaskSOURCE10,
1182  RSIMotorIoTypeMaskSOURCE11 = RSICONSTANTMotorIoTypeMaskSOURCE11,
1183  RSIMotorIoTypeMaskSOURCE12 = RSICONSTANTMotorIoTypeMaskSOURCE12,
1184  RSIMotorIoTypeMaskSOURCE13 = RSICONSTANTMotorIoTypeMaskSOURCE13,
1185  RSIMotorIoTypeMaskSOURCE14 = RSICONSTANTMotorIoTypeMaskSOURCE14,
1186  RSIMotorIoTypeMaskSOURCE15 = RSICONSTANTMotorIoTypeMaskSOURCE15,
1187  RSIMotorIoTypeMaskINPUT = RSICONSTANTMotorIoTypeMaskINPUT,
1188  RSIMotorIoTypeMaskPULSE_A = RSICONSTANTMotorIoTypeMaskPULSE_A,
1189  RSIMotorIoTypeMaskPULSE_B = RSICONSTANTMotorIoTypeMaskPULSE_B,
1190  RSIMotorIoTypeMaskCOMPARE_0 = RSICONSTANTMotorIoTypeMaskCOMPARE_0,
1191  RSIMotorIoTypeMaskCOMPARE_1 = RSICONSTANTMotorIoTypeMaskCOMPARE_1,
1192  RSIMotorIoTypeMaskBRAKE = RSICONSTANTMotorIoTypeMaskBRAKE,
1193  RSIMotorIoTypeMaskSSI_CLOCK0 = RSICONSTANTMotorIoTypeMaskSSI_CLOCK0,
1194  RSIMotorIoTypeMaskSSI_CLOCK1 = RSICONSTANTMotorIoTypeMaskSSI_CLOCK1,
1195 };
1196 
1199  RSIAnalogOutChannelCOMMAND,
1201 };
1202 
1204 enum class RSIMotorFaultMask {
1205  RSIMotorFaultMaskAMP = RSICONSTANTMotorFaultMaskAMP,
1206  RSIMotorFaultMaskDRIVE = RSICONSTANTMotorFaultMaskDRIVE,
1207  RSIMotorFaultMaskWATCHDOG = RSICONSTANTMotorFaultMaskWATCHDOG,
1208  RSIMotorFaultMaskCHECKSUM = RSICONSTANTMotorFaultMaskCHECKSUM,
1209  RSIMotorFaultMaskFEEDBACK = RSICONSTANTMotorFaultMaskFEEDBACK,
1210  RSIMotorFaultMaskAMP_NOT_POWERED = RSICONSTANTMotorFaultMaskNOT_READY_FOR_REMOTE_CONTROL,
1211  RSIMotorFaultMaskDRIVE_NOT_READY = RSICONSTANTMotorFaultMaskDRIVE_NOT_READY,
1212  RSIMotorFaultMaskFEEDBACK_FAULT_SECONDARY = RSICONSTANTMotorFaultMaskFEEDBACK_FAULT_SECONDARY
1213 };
1214 
1216 enum class RSIMotorType {
1217  RSIMotorTypeSERVO = RSICONSTANTMotorTypeSERVO,
1218  RSIMotorTypeSTEPPER = RSICONSTANTMotorTypeSTEPPER,
1219  RSIMotorTypePHANTOM,
1221 };
1222 
1225  RSIMotorDisableActionNONE = RSICONSTANTMotorDisableActionNONE,
1226  RSIMotorDisableActionCMD_EQ_ACT = RSICONSTANTMotorDisableActionCMD_EQ_ACT,
1227 };
1228 
1230 enum class RSIMotorBrakeMode {
1231  RSIMotorBrakeModeNONE = RSICONSTANTMotorBrakeModeNONE,
1232  RSIMotorBrakeModeDELAY = RSICONSTANTMotorBrakeModeDELAY,
1233 };
1234 
1236 enum class RSIOperationMode {
1237  RSIOperationModeNONE = 0,
1238  RSIOperationModePROFILE_POSITION_MODE = 1,
1239  RSIOperationModeVELOCITY_MODE = 2,
1240  RSIOperationModePROFILE_VELOCITY_MODE = 3,
1241  RSIOperationModeTORQUE_PROFILE_MODE = 4,
1242  RSIOperationModeHOMING_MODE = 6,
1243  RSIOperationModeINTERPOLATED_POSITION_MODE = 7,
1244  RSIOperationModeCYCLIC_SYNCHRONOUS_POSITION_MODE = 8,
1245  RSIOperationModeCYCLIC_SYNCHRONOUS_VELOCITY_MODE = 9,
1247 };
1248 
1250 enum class RSICacheObject {
1251  RSICacheObjectControlConfig,
1252  RSICacheObjectMotorStatus,
1254 };
1255 
1259 };
1260 
1262 enum class INtimeStatus {
1263  INtimeStatusUnknownError = 0,
1264  INtimeStatusOK = 1,
1265  INtimeStatusNotStarted = 2,
1267 };
1268 
1271  NetworkIndexTypeSTATUS_WORD_INDEX,
1272  NetworkIndexTypePOSITION_ACTUAL_INDEX,
1273  NetworkIndexTypeVELOCITY_ACTUAL_INDEX,
1274  NetworkIndexTypeTORQUE_ACTUAL_INDEX,
1275  NetworkIndexTypeDIGITAL_INPUT_INDEX,
1276  NetworkIndexTypeANALOG_INPUT_INDEX,
1277  NetworkIndexTypePDO_POSITION_ERROR_INDEX,
1278  NetworkIndexTypeAUX_POSITION_FEEDBACK_INDEX,
1279 
1280  NetworkIndexTypeCONTROL_WORD_INDEX,
1281  NetworkIndexTypePOSITION_DEMAND_INDEX,
1282  NetworkIndexTypeVELOCITY_DEMAND_INDEX,
1283  NetworkIndexTypeTARGET_TORQUE_INDEX,
1284  NetworkIndexTypeMODE_OF_OPERATION_INDEX,
1285  NetworkIndexTypeDIGITAL_OUTPUT_INDEX,
1287 };
1288 
1291  RSINetworkOutputAddressTypeSENT_VALUE,
1292  RSINetworkOutputAddressTypeFIRMWARE_VALUE,
1294 };
1295 
1298  RSICompensatorOutputTypeSINGLE = RSICONSTANTFWCompensatorOutputTypeSINGLE,
1299  RSICompensatorOutputTypeADDITIVE = RSICONSTANTFWCompensatorOutputTypeADDITIVE
1300 };
1301 
1303 enum class RSIPDOType {
1304  RSIPDOTypeINPUT,
1306 };
1307 
1309 
1310 } // namespace RSI
1311 
1312 } // namespace RapidCode
1313 #endif // _RSI_CONSTANTS_H
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition: rsienums.h:1058
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition: rsienums.h:1123
RSI::RapidCode::RSIMotionAttrOutputType
RSIMotionAttrOutputType
Types for outputs during motion.
Definition: rsienums.h:1013
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition: rsienums.h:403
RSI::RapidCode::RSIProcessorType::RSIProcessorTypeRMP
@ RSIProcessorTypeRMP
RSI processor (Soft Motion)
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition: rsienums.h:1051
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition: rsienums.h:281
RSI::RapidCode::RSIMotionType
RSIMotionType
Streaming motion types.
Definition: rsienums.h:948
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition: rsienums.h:1297
RSI::RapidCode::RSIMotionAttrMask::RSIMotionAttrMaskBEHAVIOR
@ RSIMotionAttrMaskBEHAVIOR
(Default)
RSI::RapidCode::RSISource::RSISourceAMP_FAULT
@ RSISourceAMP_FAULT
Amp Fault.
RSI::RapidCode::RSIFirmwareStatus
RSIFirmwareStatus
Status bits used in the firmware.
Definition: rsienums.h:492
RSI::RapidCode::RSIAxisPositionInput::RSIAxisPositionInputFIRST
@ RSIAxisPositionInputFIRST
Primary encoder.
RSI::RapidCode::RSINetworkType
RSINetworkType
Type of Network topology.
Definition: rsienums.h:606
RSI::RapidCode::RSINetworkTechnologyType::RSINetworkTechnologyTypeETHERCAT
@ RSINetworkTechnologyTypeETHERCAT
EtherCAT.
RSI::RapidCode::RSIMotorGeneralIo::RSIMotorGeneralIo0
@ RSIMotorGeneralIo0
0
RSI::RapidCode::RSIMotorDedicatedIn::RSIMotorDedicatedInAMP_FAULT
@ RSIMotorDedicatedInAMP_FAULT
Amp Fault.
RSI::RapidCode::RSIDataType::RSIDataTypeINVALID
@ RSIDataTypeINVALID
invalid
RSI::RapidCode::RSIMotorLimitType::RSIMotorLimitTypeAMP_FAULT
@ RSIMotorLimitTypeAMP_FAULT
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition: rsienums.h:1262
RSI::RapidCode::RSIFilterGainIndex::RSIFilterGainIndexNO_MOTION
@ RSIFilterGainIndexNO_MOTION
RSI::RapidCode::RSIErrorMessage::RSIAxisMessageAXIS_INVALID
@ RSIAxisMessageAXIS_INVALID
RSI::RapidCode::RSINodeType::RSINodeTypeINVALID
@ RSINodeTypeINVALID
RSI::RapidCode::RSIMultiAxisAddressType::RSIMultiAxisAddressTypeMOTION_STATUS
@ RSIMultiAxisAddressTypeMOTION_STATUS
Motion Status.
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition: rsienums.h:880
RSI::RapidCode::RSIPathPlanType::RSIPathPlanTypeTRAPEZOIDAL
@ RSIPathPlanTypeTRAPEZOIDAL
Trapezoidal velocity profile.
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition: rsienums.h:1257
RSI::RapidCode::RSIAnalogOutChannel::RSIAnalogOutChannelCOMMAND
@ RSIAnalogOutChannelCOMMAND
RSI::RapidCode::RSIState::RSIStateIDLE
@ RSIStateIDLE
Idle, ready for anything.
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition: rsienums.h:1038
RSI::RapidCode::RSIHomeStage::RSIHomeStageSTAGE_ONE
@ RSIHomeStageSTAGE_ONE
Searching Move to Find Limit. (ie Home Active)
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition: rsienums.h:486
RSI::RapidCode::RSIControllerType::RSIControllerTypeINVALID_ID
@ RSIControllerTypeINVALID_ID
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition: rsienums.h:1230
RSI::RapidCode::RSIUserLimitLogic::RSIUserLimitLogicEQ
@ RSIUserLimitLogicEQ
Equal to.
RSI::RapidCode::RSIMotionHoldType::RSIMotionHoldTypeNONE
@ RSIMotionHoldTypeNONE
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition: rsienums.h:653
RSI::RapidCode::RSIMotorDisableAction
RSIMotorDisableAction
Action for when a motor is disabled.
Definition: rsienums.h:1224
RSI::RapidCode::RSIMotionAttrOutputType::RSIMotionAttrOutputTypeNONE
@ RSIMotionAttrOutputTypeNONE
RSI::RapidCode::RSINetworkStartError::RSINetworkStartErrorNETWORK_START_OK
@ RSINetworkStartErrorNETWORK_START_OK
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition: rsienums.h:1000
RSI::RapidCode::RSIEventType::RSIEventTypeINVALID
@ RSIEventTypeINVALID
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition: rsienums.h:626
RSI::RapidCode::RSIMotorLimitType
RSIMotorLimitType
Motor Limits.
Definition: rsienums.h:867
RSI::RapidCode::RSIControllerAddressType::RSIControllerAddressTypeSAMPLE_COUNTER
@ RSIControllerAddressTypeSAMPLE_COUNTER
Sample Counter.
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition: rsienums.h:1154
RSI::RapidCode::INtimeStatus::INtimeStatusUnknownError
@ INtimeStatusUnknownError
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition: rsienums.h:964
RSI::RapidCode::RSIAnalogOutChannel
RSIAnalogOutChannel
Analog output channels.
Definition: rsienums.h:1198
RSI::RapidCode::RSIMotorDisableAction::RSIMotorDisableActionNONE
@ RSIMotorDisableActionNONE
No action taken when disabled.
RSI::RapidCode::RSIAction::RSIActionNONE
@ RSIActionNONE
None - do not perform any action.
RSI::RapidCode::RSIUserLimitTriggerType::RSIUserLimitTriggerTypeINVALID
@ RSIUserLimitTriggerTypeINVALID
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition: rsienums.h:1216
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition: rsienums.h:581
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition: rsienums.h:1073
RSI::RapidCode::RSIMotorIoTypeMask::RSIMotorIoTypeMaskOUTPUT
@ RSIMotorIoTypeMaskOUTPUT
RSI::RapidCode::RSITrace::RSITraceNONE
@ RSITraceNONE
No tracing.
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition: rsienums.h:803
RSI::RapidCode::RSIFilterGainPIDCoeff::RSIFilterGainPIDCoeffGAIN_PROPORTIONAL
@ RSIFilterGainPIDCoeffGAIN_PROPORTIONAL
Kp.
RSI::RapidCode::RSIWait::RSIWaitFOREVER
@ RSIWaitFOREVER
Wait forever before returning.
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition: rsienums.h:1303
RSI::RapidCode::RSIMotorDedicatedOut::RSIMotorDedicatedOutAMP_ENABLE
@ RSIMotorDedicatedOutAMP_ENABLE
Amp Enable.
RSI::RapidCode::RSIFilterAlgorithm::RSIFilterAlgorithmPID
@ RSIFilterAlgorithmPID
PID algorithm.
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition: rsienums.h:1290
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition: rsienums.h:1170
RSI::RapidCode::RSIMotorBrakeMode::RSIMotorBrakeModeNONE
@ RSIMotorBrakeModeNONE
Use no brake.
RSI::RapidCode::RSINetworkIndexType::NetworkIndexTypeSTATUS_WORD_INDEX
@ NetworkIndexTypeSTATUS_WORD_INDEX
RSI::RapidCode::RSIFilterGainPIVCoeff::RSIFilterGainPIVCoeffGAINPOSITION_PROPORTIONAL
@ RSIFilterGainPIVCoeffGAINPOSITION_PROPORTIONAL
Kpp.
RSI::RapidCode::RSINetworkStartupMethod::RSINetworkStartupMethodNORMAL
@ RSINetworkStartupMethodNORMAL
probe and run
RSI::RapidCode::RSIIMotionControllerInitializationState
RSIIMotionControllerInitializationState
MotionController's initialization state.
Definition: rsienums.h:292
RSI::RapidCode::RSIHomeMethod::RSIHomeMethodNONE
@ RSIHomeMethodNONE
Set the current position to zero (home)
RSI::RapidCode::RSICompensatorOutputType::RSICompensatorOutputTypeSINGLE
@ RSICompensatorOutputTypeSINGLE
Compensator output will overwrite any other compensation values.
RSI::RapidCode::RSIAxisGantryType::RSIAxisGantryTypeNONE
@ RSIAxisGantryTypeNONE
RSI::RapidCode::RSIAxisAddressType::RSIAxisAddressTypeACTUAL_POSITION
@ RSIAxisAddressTypeACTUAL_POSITION
Actual Position.
RSI::RapidCode::RSIMotorFeedbackFault::RSIMotorFeedbackFaultPRIMARY
@ RSIMotorFeedbackFaultPRIMARY
Feedback Fault Primary.
RSI::RapidCode::RSIMotorFeedback::RSIMotorFeedbackPRIMARY
@ RSIMotorFeedbackPRIMARY
Primary encoder.
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition: rsienums.h:307
RSI::RapidCode::RSIAxisMasterType::RSIAxisMasterTypeMOTOR_FEEDBACK_PRIMARY
@ RSIAxisMasterTypeMOTOR_FEEDBACK_PRIMARY
Use primary motor encoder from master.
RSI::RapidCode::RSIMotorIoType::RSIMotorIoTypeOUTPUT
@ RSIMotorIoTypeOUTPUT
RSI::RapidCode::RSINetworkState::RSINetworkStateUNINITIALIZED
@ RSINetworkStateUNINITIALIZED
EtherCAT not yet started.
RSI::RapidCode::RSIMotionType::RSIMotionTypePT
@ RSIMotionTypePT
simple Position and Time algorithm
RSI::RapidCode::RSIWait
RSIWait
Waiting for interrupts.
Definition: rsienums.h:941
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition: rsienums.h:927
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition: rsienums.h:1044
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition: rsienums.h:556
RSI::RapidCode::RSINetworkType::RSINetworkTypeSTRING
@ RSINetworkTypeSTRING
A String topology is chain of linked Node(s) to the Controller from the In or Out port.
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition: rsienums.h:528
RSI
RSI::RapidCode::RSIMotorStepperPulseType::RSIMotorStepperPulseTypeSTEP
@ RSIMotorStepperPulseTypeSTEP
RSI::RapidCode::RSIMotorStepperPulse::RSIMotorStepperPulseA
@ RSIMotorStepperPulseA
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition: rsienums.h:568
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition: rsienums.h:613
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition: rsienums.h:1204
RSI::RapidCode::RSIFirmwareLogic
RSIFirmwareLogic
Logic options for User Limits.
Definition: rsienums.h:548
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition: rsienums.h:411
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition: rsienums.h:1020
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition: rsienums.h:1270
RSI::RapidCode::RSICacheObject
RSICacheObject
Caching data for GUI optimization.
Definition: rsienums.h:1250
RSI::RapidCode::RSICacheObject::RSICacheObjectControlConfig
@ RSICacheObjectControlConfig
MotionController.
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition: rsienums.h:301
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition: rsienums.h:1064
RSI::RapidCode::RSIMotorType::RSIMotorTypeSERVO
@ RSIMotorTypeSERVO
Servo motor.
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition: rsienums.h:1094
RSI::RapidCode::RSIIMotionControllerInitializationState::RSIIMotionControllerInitializationStateOK
@ RSIIMotionControllerInitializationStateOK
RSI::RapidCode::RSIFilterGainIndex
RSIFilterGainIndex
Filter Gain Table enums for.
Definition: rsienums.h:1115
RSI::RapidCode::RSIPDOType::RSIPDOTypeINPUT
@ RSIPDOTypeINPUT
A network PDO INPUT.
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition: rsienums.h:1133
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition: rsienums.h:639
RSI::RapidCode::RSIFirmwareLogic::RSILogicNEVER
@ RSILogicNEVER
Disables the user limit. No conditions are evaluated.
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition: rsienums.h:1160
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition: rsienums.h:426
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition: rsienums.h:958
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition: rsienums.h:831
RSI::RapidCode::RSIOperationMode::RSIOperationModeNONE
@ RSIOperationModeNONE
0, Reserved/None
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition: rsienums.h:575
RSI::RapidCode::RSINetworkStartMode::RSINetworkStartModeOPERATIONAL
@ RSINetworkStartModeOPERATIONAL
start the network in operational mode (default)
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition: rsienums.h:1236
RSI::RapidCode::RSIMotorFaultMask::RSIMotorFaultMaskAMP
@ RSIMotorFaultMaskAMP
Amp.
RSI::RapidCode::RSINetworkOutputAddressType::RSINetworkOutputAddressTypeSENT_VALUE
@ RSINetworkOutputAddressTypeSENT_VALUE
The value sent over the network. Could be firmware value or override value, depending on override set...
RSI::RapidCode::RSIState
RSIState
State of an Axis or MultiAxis.
Definition: rsienums.h:793
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition: rsienums.h:825
RSI::RapidCode::RSIFirmwareStatus::RSIFirmwareStatusIN_COARSE_POSITION
@ RSIFirmwareStatusIN_COARSE_POSITION
RSI::RapidCode::RSIErrorMessage
RSIErrorMessage
All possible RSI Error Messages.
Definition: rsienums.h:17